diff --git "a/json/train/data-00021-of-00160.json" "b/json/train/data-00021-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00021-of-00160.json"
@@ -0,0 +1,1585 @@
+{"uid":"13046197410952536475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"16970976057138088199.mp4"}
+{"uid":"2278631082225547704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packets on stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4566474604835315645.mp4"}
+{"uid":"9531551897073383363","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pear into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow pear into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e","video":"14693277702509726749.mp4"}
+{"uid":"14455271377029390313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15717353946723545735.mp4"}
+{"uid":"14363848610839340938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white block 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":"4080494699724959452.mp4"}
+{"uid":"10758665120028887269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink 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":"8346292993414629159.mp4"}
+{"uid":"6204451152943532906","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana into bowl 2- Place the banana into the white bowl 3- put orange into bowl 4- Place the banana into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e","video":"16545669963023394814.mp4"}
+{"uid":"17538505283802405675","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"13362532473425290404.mp4"}
+{"uid":"10125129823141663513","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":"18017052257026826972.mp4"}
+{"uid":"12994659949477897915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3387901631113038267.mp4"}
+{"uid":"3936934941312845735","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear 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 pear 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":"12807563205374139935.mp4"}
+{"uid":"32520634681140460","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- Place the orange into the white bowl 3- put orange into bowl 4- Place the yellow pear into the white bowl 5- Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"14726097366020165472.mp4"}
+{"uid":"4207213106652760416","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow pear into bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow pear 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\nput yellow pear 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":"7367310866035584192.mp4"}
+{"uid":"1313621656060596502","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- put orange into bowl 3- Place the yellow pear into the white bowl 4- Place the orange into the white bowl 5- Place the banana into the white 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 all the fruits back to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"17597676093788044447.mp4"}
+{"uid":"15893249147584064327","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana into the white bowl 2- put orange into bowl 3- Place the banana into the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e","video":"14827844879874728522.mp4"}
+{"uid":"5547795649759033311","text":"\u003ctask:success:discrete:False\u003e\nput yellow pear 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl Q: immediate next step? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow pear 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow pear into bowl 2- Place the orange into the white bowl 3- Place the banana into the white bowl 4- Place the banana into the white bowl 5- put orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow pear into bowl\n\u003c/PRED\u003e","video":"8982944172718137058.mp4"}
+{"uid":"1851397071882525572","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":"1867848171290345879.mp4"}
+{"uid":"15710928931980811689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"8804560688733275034.mp4"}
+{"uid":"12605098289271366628","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":"1656724391462844308.mp4"}
+{"uid":"8430571622412486142","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":"18148355307804020537.mp4"}
+{"uid":"12721905282497020421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13768024783496738044.mp4"}
+{"uid":"2971330954320931963","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into bowl 2- Place the banana into the white bowl 3- Place the banana into the white bowl 4- put orange into bowl 5- Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e","video":"9990281291083303986.mp4"}
+{"uid":"9304991588391284995","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl 9- put orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl 9- put orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"14039087513160313775.mp4"}
+{"uid":"3303782805876554417","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- put orange into bowl 3- Place the banana into the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11514563823797775250.mp4"}
+{"uid":"7871542456486246004","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Place the banana into the white bowl 3- put orange into bowl 4- Place the banana into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9143028813214683198.mp4"}
+{"uid":"5252966523293118107","text":"\u003ctask:success:discrete:True\u003e\nPlace the yellow pear into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e","video":"4083922878835090991.mp4"}
+{"uid":"7006745763258940003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into bowl 2- put orange into bowl 3- Place the yellow pear into the white bowl 4- Place the orange into the white bowl 5- Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e","video":"942530655251778692.mp4"}
+{"uid":"3195436028420019678","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: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: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: put all the fruits back to 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the banana into the white bowl 3- done\n\u003c/PRED\u003e","video":"11178213145420798345.mp4"}
+{"uid":"4385075375277193002","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the yellow pear into the white bowl 3- Place the orange into the white bowl 4- Place the banana into the white bowl 5- Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to 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","video":"18051007122226702187.mp4"}
+{"uid":"3595792518521520423","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl 9- put orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana into the white bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl 9- put orange into bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10640088977222451535.mp4"}
+{"uid":"13081780263631158503","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow pear into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the banana into the white bowl 4- Place the banana into the white bowl 5- put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pear into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear into the white bowl\n\u003c/PRED\u003e","video":"17939304079955070037.mp4"}
+{"uid":"18285305651376310303","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"8874652914094725238.mp4"}
+{"uid":"14409482684216160671","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- Place the banana into the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"5462186621720582025.mp4"}
+{"uid":"10740382433735026360","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into bowl 2- Place the orange into the white bowl 3- put orange into bowl 4- Place the yellow pear into the white bowl 5- Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e","video":"2254243255861127514.mp4"}
+{"uid":"16347672363155411453","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana into the white bowl 2- Place the banana into the white bowl 3- put orange into bowl 4- Place the banana into the white bowl 5- done\n\u003c/PRED\u003e","video":"6951676367519501475.mp4"}
+{"uid":"6689730929367970892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2152752162178830958.mp4"}
+{"uid":"14007603887356375686","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":"6029344537194963803.mp4"}
+{"uid":"13494318435008265999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink 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":"7708665965293646938.mp4"}
+{"uid":"16855391155486920534","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into bowl 2- Place the orange into the white bowl 3- Place the banana into the white bowl 4- Place the banana into the white bowl 5- put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e","video":"529939972213729808.mp4"}
+{"uid":"2580433237102799988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate in to bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10584304365386374786.mp4"}
+{"uid":"8485603388350476348","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white 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:planning:freeform\u003e\ncurrent goal is: put all the fruits back to 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the banana into the white bowl 3- Place the banana into the white bowl 4- put orange into bowl 5- Place the banana into the white 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: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":"13812009104584114992.mp4"}
+{"uid":"4552596023275283575","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- Place the yellow pear into the white bowl 3- Place the orange into the white bowl 4- Place the banana into the white bowl 5- Place the banana into the white bowl\n\u003c/PRED\u003e","video":"226306827949827862.mp4"}
+{"uid":"6947338938027202242","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":"6405975181047797168.mp4"}
+{"uid":"721136822889888960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut rxbar chocolate in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15728242743464801920.mp4"}
+{"uid":"6852699256865286313","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Place the orange into the white bowl 3- put orange into bowl 4- Place the yellow pear into the white bowl 5- Place the orange into the white 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white 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: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:planning:freeform\u003e\ncurrent goal is: put all the fruits back to 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":"11146812945822068339.mp4"}
+{"uid":"14470280625689623563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana into bowl 2- put orange into bowl 3- Place the banana into the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana 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: put banana into bowl\n\u003c/PRED\u003e","video":"11258602789264100323.mp4"}
+{"uid":"2338561240585725446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close 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":"12220910374024047548.mp4"}
+{"uid":"5953029212125631494","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":"10765346339730194744.mp4"}
+{"uid":"12062807664411604556","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":"11582801127302726651.mp4"}
+{"uid":"14739566540922027633","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":"4868671464887125451.mp4"}
+{"uid":"2634831518129204160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17868073235312723180.mp4"}
+{"uid":"14378023483606004651","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- put orange into bowl 3- Place the yellow pear into the white bowl 4- Place the orange into the white bowl 5- Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"3114247865385644277.mp4"}
+{"uid":"15662849108365311435","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":"12283269063142471160.mp4"}
+{"uid":"13053174974339359516","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the white bowl 2- Place the banana into the white bowl 3- Place the banana into the white bowl 4- put orange into bowl 5- Place the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the white bowl\n\u003c/PRED\u003e","video":"12001933533201699594.mp4"}
+{"uid":"15463357555269910682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tilted cup on a grey table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8100114349863662969.mp4"}
+{"uid":"11654287363134103294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6754900766632656442.mp4"}
+{"uid":"2730511225633874341","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Place the orange into the white bowl 3- Place the banana into the white bowl 4- Place the banana into the white bowl 5- put orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e","video":"9660745675623185423.mp4"}
+{"uid":"13513323522748518746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a cheese stick 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":"2571956177559853387.mp4"}
+{"uid":"3901781148033656683","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":"6489902417300027150.mp4"}
+{"uid":"6658938188811707422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7323219030726658690.mp4"}
+{"uid":"4369079421181721347","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl 9- put orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana into bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl 9- put orange into bowl Q: immediate next step? \u003cPRED\u003eA: put banana into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana 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":"17729384602098215488.mp4"}
+{"uid":"13875857004193853633","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":"15073668254561531569.mp4"}
+{"uid":"12357073835425151988","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 all the fruits back to the bowl Q: immediate next step? \u003cPRED\u003eA: put orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 all the fruits back to the bowl. last 20 steps: 1- Place the yellow pear into the white bowl 2- Place the orange into the white bowl 3- Place the orange into the white bowl 4- put orange into bowl 5- Place the yellow pear into the white bowl 6- Place the orange into the white bowl 7- Place the banana into the white bowl 8- Place the banana into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into bowl 2- Place the banana into the white bowl 3- done\n\u003c/PRED\u003e","video":"1572465716762130732.mp4"}
+{"uid":"16422834517828723299","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: next 5 steps? \u003cPRED\u003eA: 1- Hang the bag to the hanger 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: immediate next step? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16770217862933531653.mp4"}
+{"uid":"15044495645828707867","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green bag 2- Move towards the rod 3- Hang the bag to the hanger 4- move away from the hanger 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: Pick up the green bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Pick up the green bag\n\u003c/PRED\u003e","video":"17865151619653227994.mp4"}
+{"uid":"4622646388979354502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14182489329251787319.mp4"}
+{"uid":"10189397479406357469","text":"\u003ctask:success:discrete:True\u003e\nMove towards the hook of the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the hook of the rod\n\u003c/PRED\u003e","video":"7595963606221542065.mp4"}
+{"uid":"4318779952976476732","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the bag.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo closer to the bag. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6173798401352443761.mp4"}
+{"uid":"1473476799843476912","text":"\u003ctask:success:discrete:True\u003e\nTouch the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the green bag\n\u003c/PRED\u003e","video":"10301635342525483995.mp4"}
+{"uid":"16472300706568311794","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: immediate next step? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the hanger 2- Hang the bag to the hanger 3- move away from the hanger 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e","video":"5098312298606873058.mp4"}
+{"uid":"11590806865247352600","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bag 2- Move towards the rod 3- Hang the bag to the hanger 4- move away from the hanger 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: pick the bag\n\u003c/PRED\u003e","video":"16718847861319670432.mp4"}
+{"uid":"8984024391665225854","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11820713862547992513.mp4"}
+{"uid":"7180314500764632897","text":"\u003ctask:success:discrete:True\u003e\nMove to the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the green bag\n\u003c/PRED\u003e","video":"15098154775297042235.mp4"}
+{"uid":"5716105323691688164","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":"16733021547254940950.mp4"}
+{"uid":"16080326830504866247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack white book vertically Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15245737479100220475.mp4"}
+{"uid":"16462554307812471484","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: Grasp the green bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the green bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the green bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the green bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Grasp the green bag\n\u003c/PRED\u003e","video":"10520010349095449787.mp4"}
+{"uid":"5772656973616404332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8526676520134693926.mp4"}
+{"uid":"15756104180565781219","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":"5909928206236566497.mp4"}
+{"uid":"6911348584511696532","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":"15973731688355871306.mp4"}
+{"uid":"11657496495906911320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16781690912012426257.mp4"}
+{"uid":"13936056465654669170","text":"\u003ctask:success:discrete:False\u003e\nTouch the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the green bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: immediate next step? \u003cPRED\u003eA: Touch the green bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Touch the green bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the green bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the green bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e","video":"503960969957465367.mp4"}
+{"uid":"1671525669686431290","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: immediate next step? \u003cPRED\u003eA: move towards the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the hanger 2- Hang the bag to the hanger 3- move away from the hanger 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the hanger\n\u003c/PRED\u003e","video":"12456904052952563043.mp4"}
+{"uid":"13601969088241128284","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the hook of the rod\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the hook of the rod 2- move away from the hanger 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the hook of the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move towards the hook of the rod\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the hook of the rod\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: immediate next step? \u003cPRED\u003eA: Move towards the hook of the rod\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the hook of the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1956413959690799122.mp4"}
+{"uid":"11613454736708178884","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Grasp the handle of the green bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the handle of the green bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the handle of the green bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the handle of the green bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the handle of the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the handle of the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: Grasp the handle of the green bag\n\u003c/PRED\u003e","video":"13229170584464059633.mp4"}
+{"uid":"15217102591409713334","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: grasp the bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: grasp the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the bag\n\u003c/PRED\u003e","video":"8178577897988416110.mp4"}
+{"uid":"94911404924733604","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":"12378351279813952423.mp4"}
+{"uid":"6065193260277686121","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":"4827314334685469941.mp4"}
+{"uid":"4692445930784943208","text":"\u003ctask:success:discrete:True\u003e\nGrasp the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the bag\n\u003c/PRED\u003e","video":"14236736275192396121.mp4"}
+{"uid":"3160309705889534014","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"276131708339779201.mp4"}
+{"uid":"16922499893646509167","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the green bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12480214565216354504.mp4"}
+{"uid":"17467740195881135904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17555727098015291805.mp4"}
+{"uid":"8195778159121532575","text":"\u003ctask:success:discrete:True\u003e\nGrasp the handle of the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the handle of the green bag\n\u003c/PRED\u003e","video":"8328116579738394604.mp4"}
+{"uid":"16169598303624773520","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the hanger 2- Hang the bag to the hanger 3- move away from the hanger 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: immediate next step? \u003cPRED\u003eA: move to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the hanger\n\u003c/PRED\u003e","video":"13538018901010178003.mp4"}
+{"uid":"17511861223647700078","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10009327379595707284.mp4"}
+{"uid":"2594345097372528579","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the handle of the green bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the handle of the green bag 2- Grasp the handle of the green bag 3- Pull the bag off the table 4- Pick up the bag 5- Move towards the rod\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the handle of the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the handle of the green bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: immediate next step? \u003cPRED\u003eA: Move towards the handle of the green bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the handle of the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move towards the handle of the green bag\n\u003c/PRED\u003e","video":"6095905894952403265.mp4"}
+{"uid":"10628818634851669428","text":"\u003ctask:success:discrete:True\u003e\nPull the bag off the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pull the bag off the table\n\u003c/PRED\u003e","video":"10568851939737575802.mp4"}
+{"uid":"2661323726563924488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black cable 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":"12402732633431860114.mp4"}
+{"uid":"15993976061220695031","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: immediate next step? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the hanger 2- Hang the bag to the hanger 3- move away from the hanger 4- done\n\u003c/PRED\u003e","video":"5284317955046873710.mp4"}
+{"uid":"13361314636755049893","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":"4683663883041535624.mp4"}
+{"uid":"11993373790175976803","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11503646731456359107.mp4"}
+{"uid":"10080523681877471232","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":"16380697419323313261.mp4"}
+{"uid":"13826762737984018741","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: touch the bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- touch the bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: immediate next step? \u003cPRED\u003eA: touch the bag\n\u003c/PRED\u003e","video":"3491878275670585578.mp4"}
+{"uid":"16026073993375220869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the cups aside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3022792674648324777.mp4"}
+{"uid":"9704908982058884080","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":"5561091957494336084.mp4"}
+{"uid":"16643400981922123442","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e","video":"1564825514833763275.mp4"}
+{"uid":"2638475546289343485","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: Move away from the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the hanger 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move away from the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11846777345822105271.mp4"}
+{"uid":"17470341675972605441","text":"\u003ctask:success:discrete:True\u003e\ngrab the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the bag\n\u003c/PRED\u003e","video":"4749345083670225614.mp4"}
+{"uid":"311095497799143161","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the rod\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag Q: immediate next step? \u003cPRED\u003eA: Move towards the rod\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the rod 2- move away from the hanger 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move towards the rod\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the rod\n\u003c/PRED\u003e","video":"4145543145023160356.mp4"}
+{"uid":"15226941038491814400","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the bag 2- Grasp the handle of the green bag 3- Pull the bag off the table 4- Pick up the bag 5- Move towards the rod\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move to the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8434107681866673859.mp4"}
+{"uid":"18290528022052627131","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":"4674906270429563598.mp4"}
+{"uid":"338205123501900952","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bag 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 bag from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: pick up the bag from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: pick up the bag from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bag from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bag from the table. 2- Move towards the rod 3- Hang the bag to the hanger 4- move away from the hanger 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bag from the table.\n\u003c/PRED\u003e","video":"11801272336109048909.mp4"}
+{"uid":"14185598029794794566","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":"11516151831295369825.mp4"}
+{"uid":"6503032220090685702","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: grab the bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: immediate next step? \u003cPRED\u003eA: grab the bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"706055918754062807.mp4"}
+{"uid":"12007453817414803776","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":"13117621139018137345.mp4"}
+{"uid":"8495397906792286533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6259680669811883486.mp4"}
+{"uid":"3394130109842845425","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":"3976029220669693113.mp4"}
+{"uid":"6112641317432840548","text":"\u003ctask:success:discrete:True\u003e\nHang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9336977543074159523.mp4"}
+{"uid":"18429804039706774437","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: immediate next step? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: next 5 steps? \u003cPRED\u003eA: 1- hang the bag to the hanger 2- done\n\u003c/PRED\u003e","video":"10076020496038130652.mp4"}
+{"uid":"12961380544339491897","text":"\u003ctask:success:discrete:True\u003e\ntouch the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the bag\n\u003c/PRED\u003e","video":"15063457813434339430.mp4"}
+{"uid":"10052450162613933593","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":"10017778813358073446.mp4"}
+{"uid":"5193469769631199065","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the green bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the green bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the green bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the green bag 2- Grasp the handle of the green bag 3- Pull the bag off the table 4- Pick up the bag 5- Move towards the rod\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the green bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the green bag\n\u003c/PRED\u003e","video":"1563463488444141817.mp4"}
+{"uid":"6962609007401910341","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the  green bag to the hook of the rod\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the  green bag to the hook of the rod\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the  green bag to the hook of the rod\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- hang the  green bag to the hook of the rod 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: hang the  green bag to the hook of the rod\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the  green bag to the hook of the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the  green bag to the hook of the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1692452922970014058.mp4"}
+{"uid":"11862576142995740059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4886353141270631412.mp4"}
+{"uid":"4977439613726496240","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nHang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11022145852931363892.mp4"}
+{"uid":"4480390748082345468","text":"\u003ctask:success:discrete:False\u003e\nMove to the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the bag 2- Grasp the handle of the green bag 3- Pull the bag off the table 4- Pick up the bag 5- Move towards the rod\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move to the bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the bag\n\u003c/PRED\u003e","video":"7058512804587278775.mp4"}
+{"uid":"10251752454742030589","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6946508421508174335.mp4"}
+{"uid":"14640236227973781684","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":"1244758354043547818.mp4"}
+{"uid":"14062229486749067145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2475589712787825512.mp4"}
+{"uid":"10239347996887685671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16088026014412542594.mp4"}
+{"uid":"14006200269971702750","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":"12603782932743792804.mp4"}
+{"uid":"17953659285585557398","text":"\u003ctask:success:discrete:True\u003e\nMove towards the handle of the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the handle of the green bag\n\u003c/PRED\u003e","video":"1422010714231267306.mp4"}
+{"uid":"1386535291903231043","text":"\u003ctask:success:discrete:True\u003e\nMove towards the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the rod\n\u003c/PRED\u003e","video":"10564068321161307536.mp4"}
+{"uid":"10479288803988137358","text":"\u003ctask:success:discrete:True\u003e\nPick up the green bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green bag\n\u003c/PRED\u003e","video":"9771105564919762084.mp4"}
+{"uid":"1734759599461108664","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6392352376314496189.mp4"}
+{"uid":"12661328040648883826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Yellow 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":"9169884375623414295.mp4"}
+{"uid":"1514792870390900260","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":"13560495236159713368.mp4"}
+{"uid":"12263270863630522557","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag Q: immediate next step? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag Q: next 5 steps? \u003cPRED\u003eA: 1- Hang the bag to the hanger 2- move away from the hanger 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17758990353366600502.mp4"}
+{"uid":"8325601293356483544","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":"10766095557917187570.mp4"}
+{"uid":"10062764264380723394","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the hanger 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: move away from the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: move away from the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the hanger\n\u003c/PRED\u003e","video":"3860896165892463061.mp4"}
+{"uid":"2327598292864828327","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nhang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: immediate next step? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod Q: next 5 steps? \u003cPRED\u003eA: 1- hang the bag to the hanger 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhang the bag to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9926708910611044366.mp4"}
+{"uid":"11036819559210034230","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Grasp the bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: immediate next step? \u003cPRED\u003eA: Grasp the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the bag 2- Pull the bag off the table 3- Pick up the bag 4- Move towards the rod 5- Hang the bag to the hanger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13700855260113722014.mp4"}
+{"uid":"18405109416814708269","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the hanger\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger 8- move away from the hanger Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger 8- move away from the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8422270215681104913.mp4"}
+{"uid":"5247315195222507061","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bag from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bag 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":"14934557184154789385.mp4"}
+{"uid":"1328992024047059514","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Pick up the bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bag 2- Move towards the rod 3- Hang the bag to the hanger 4- move away from the hanger 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: Pick up the bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2491247854614750144.mp4"}
+{"uid":"4396058783896879569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the thermocol sheet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12997665803488003890.mp4"}
+{"uid":"2054899905741470286","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: immediate next step? \u003cPRED\u003eA: Move away from the rod\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the rod\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the rod 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Move away from the rod\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the rod\n\u003c/PRED\u003e","video":"2651412120788780766.mp4"}
+{"uid":"5981058534168826491","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5445049872338613144.mp4"}
+{"uid":"17134081472089096302","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the bag.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the bag. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the bag. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: go closer to the bag.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the bag. 2- Grasp the handle of the green bag 3- Pull the bag off the table 4- Pick up the bag 5- Move towards the rod\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go closer to the bag.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the bag.\n\u003c/PRED\u003e","video":"6885702973020432053.mp4"}
+{"uid":"5187145510367464506","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the rod\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger 8- Move away from the rod Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the rod Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag 4- Pull the bag off the table 5- Pick up the bag 6- Move towards the rod 7- Hang the bag to the hanger 8- Move away from the rod Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16333043568790843964.mp4"}
+{"uid":"10712652733338290191","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":"11327052827205843423.mp4"}
+{"uid":"16515042116034707612","text":"\u003ctask:success:discrete:True\u003e\nMove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e","video":"12707798483453027547.mp4"}
+{"uid":"5824436092504847888","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the bag off the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack Q: immediate next step? \u003cPRED\u003eA: Pull the bag off the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the bag off the table 2- Move towards the rod 3- Hang the bag to the hanger 4- move away from the hanger 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the bag off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 bag off the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the bag on the desk and hang it on the coat rack. last 20 steps: 1- Move towards the table 2- Move towards the handle of the green bag 3- Grasp the handle of the green bag Q: immediate next step? \u003cPRED\u003eA: Pull the bag off the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull the bag off the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16403368541377301186.mp4"}
+{"uid":"2408509051933030846","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":"10533742164687279848.mp4"}
+{"uid":"4988519217325696464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15582316163564742924.mp4"}
+{"uid":"1636983939005702819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8540963737202041529.mp4"}
+{"uid":"299031440634191702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14811762540391822326.mp4"}
+{"uid":"14601406961525743436","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup on the counter top\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cup on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9407859453930781870.mp4"}
+{"uid":"5342468032565295989","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- put pen on the table 4- put pens on the table 5- move the holder back side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6974181936638212286.mp4"}
+{"uid":"2930832722251680472","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap 5- Put the cup on the counter top Q: immediate next step? \u003cPRED\u003eA: Put the paper piece on the counter top\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the paper piece on the counter top\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper piece on the counter top\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper piece on the counter top\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap 5- Put the cup on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper piece on the counter top 2- Put the cup on the paper piece 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper piece on the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 piece on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2228356777641732578.mp4"}
+{"uid":"17042017692307593610","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Close the tap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the tap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup Q: immediate next step? \u003cPRED\u003eA: Close the tap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the tap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the tap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Close the tap 2- Put the cup on the counter top 3- Put the paper piece on the counter top 4- Put the cup on the paper piece 5- done\n\u003c/PRED\u003e","video":"14846540125006796496.mp4"}
+{"uid":"7243083942955558698","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pens on the table 3- move the holder back side 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6374842982935819525.mp4"}
+{"uid":"1794399440319077195","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Wash the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWash the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"77677759429504670.mp4"}
+{"uid":"1859388062446499099","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pens on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pens on the table 2- move the holder back side 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: immediate next step? \u003cPRED\u003eA: place pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pens on the table\n\u003c/PRED\u003e","video":"9257919240615694800.mp4"}
+{"uid":"11896785754273857065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the scrub 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":"13793699816314097779.mp4"}
+{"uid":"14561203934923785758","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nremove pens 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- remove pens from the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: remove pens from the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: remove pens from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: remove pens from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nremove pens 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: immediate next step? \u003cPRED\u003eA: remove pens from the holder\n\u003c/PRED\u003e","video":"10261810424219519725.mp4"}
+{"uid":"2907825206485745282","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- put pen on the table 4- put pens on the table 5- move the holder back side\n\u003c/PRED\u003e","video":"16749884713987387775.mp4"}
+{"uid":"4526484015913473369","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pens on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pens on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: put pens on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pens on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17746487074682736198.mp4"}
+{"uid":"6633912866985558756","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the counter top 2- Put the paper piece on the counter top 3- Put the cup on the paper piece 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap Q: immediate next step? \u003cPRED\u003eA: Put the cup on the counter top\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the cup on the counter top\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the counter top\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup on the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 cup on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup on the counter top\n\u003c/PRED\u003e","video":"7284909712568037443.mp4"}
+{"uid":"6325593608318606347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange highlighter in the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18392154760125616393.mp4"}
+{"uid":"4135997662409405818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"8753739548163755884.mp4"}
+{"uid":"14952756135800188593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cup 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":"9339902263055433014.mp4"}
+{"uid":"16906955974823969685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"12124850851348271577.mp4"}
+{"uid":"4993341994050659435","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap 5- Put the cup on the counter top\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the cup in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the cup in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cup in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5285140284129487368.mp4"}
+{"uid":"3524373170209226927","text":"\u003ctask:success:discrete:True\u003e\nplace pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"17185801589469529066.mp4"}
+{"uid":"13049117710570171495","text":"\u003ctask:success:discrete:True\u003e\nPut the cup in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup in the sink\n\u003c/PRED\u003e","video":"17092807814144291813.mp4"}
+{"uid":"939765941464559596","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- put pen on the table 3- put pens on the table 4- move the holder back side 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"16612185038278261672.mp4"}
+{"uid":"11323893548255002699","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"6609854608438040070.mp4"}
+{"uid":"14416261244124525312","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":"15082057676567257336.mp4"}
+{"uid":"7201603527812926059","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":"4051542631822315244.mp4"}
+{"uid":"410971436741275936","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: move the holder back side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the holder back 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the holder back side 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: immediate next step? \u003cPRED\u003eA: move the holder back side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the holder back 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the holder back side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the holder back side\n\u003c/PRED\u003e","video":"16180371016811376012.mp4"}
+{"uid":"6733413183274021451","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pen on the table 3- put pens on the table 4- move the holder back side 5- done\n\u003c/PRED\u003e","video":"15117821168373897005.mp4"}
+{"uid":"15978281917641831329","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pens on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pens on the table 2- move the holder back side 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 pens on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table Q: immediate next step? \u003cPRED\u003eA: place pens on the table\n\u003c/PRED\u003e","video":"3143748991641447111.mp4"}
+{"uid":"9571173693526098931","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":"7920399092878971118.mp4"}
+{"uid":"4669348556707450266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"9900467423334194913.mp4"}
+{"uid":"14760111354445931432","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup on the paper piece Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap 5- Put the cup on the counter top 6- Put the paper piece on the counter top Q: immediate next step? \u003cPRED\u003eA: Put the cup on the paper piece\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup on the paper piece\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cup on the paper piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap 3- Wash the cup 4- Close the tap 5- Put the cup on the counter top 6- Put the paper piece on the counter top Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the paper piece 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the paper piece\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the cup on the paper piece\n\u003c/PRED\u003e","video":"12292618109864117494.mp4"}
+{"uid":"4674303662561562734","text":"\u003ctask:success:discrete:True\u003e\nput pens 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 all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: move holder to the back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move holder to the back\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pens on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table Q: immediate next step? \u003cPRED\u003eA: move holder to the back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move holder to the back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move holder to the back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove holder to the back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove holder to the back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13858561335419902992.mp4"}
+{"uid":"10759260274337064686","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7964063377969748353.mp4"}
+{"uid":"15366356111824412293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the white pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14329510729569613350.mp4"}
+{"uid":"7086309143797632409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17245015141482677407.mp4"}
+{"uid":"17507083931965725292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the nora 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":"14679566487681972366.mp4"}
+{"uid":"10218730444897343971","text":"\u003ctask:success:discrete:False\u003e\nput pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"2079086067392225804.mp4"}
+{"uid":"10880482193140547341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the top left indoor plant 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":"7386218759903102418.mp4"}
+{"uid":"9574590955097185419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15022373600574999561.mp4"}
+{"uid":"12756341061582164980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the paper cup towards the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5359286729401514349.mp4"}
+{"uid":"3990914896129560288","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":"4849285675350799362.mp4"}
+{"uid":"12589175453581844767","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- put pens on the table 3- move the holder back side 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"16732724491274888518.mp4"}
+{"uid":"16194276395305117298","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":"6562067729510956999.mp4"}
+{"uid":"7043809574632628830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the big black object into 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":"17506845288442384413.mp4"}
+{"uid":"8589625878229781574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5704739849876796781.mp4"}
+{"uid":"16385863585144485557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet in the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14755551438077188230.mp4"}
+{"uid":"13369341334665452485","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- place pen on the table 3- put pen on the table 4- put pens on the table 5- move the holder back side\n\u003c/PRED\u003e","video":"15296586460654944414.mp4"}
+{"uid":"1285030109701038390","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- Open the tap 2- Wash the cup 3- Close the tap 4- Put the cup on the counter top 5- Put the paper piece on the counter top\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Open the tap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the tap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink Q: immediate next step? \u003cPRED\u003eA: Open the tap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the tap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tap\n\u003c/PRED\u003e","video":"6851433856220764589.mp4"}
+{"uid":"11938379846539377171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown chip packet on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1626225795203498036.mp4"}
+{"uid":"9961589150222839044","text":"\u003ctask:success:discrete:False\u003e\nWash the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wash the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWash the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap Q: next 5 steps? \u003cPRED\u003eA: 1- Wash the cup 2- Close the tap 3- Put the cup on the counter top 4- Put the paper piece on the counter top 5- Put the cup on the paper piece\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wash the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK. last 20 steps: 1- Put the cup in the sink 2- Open the tap Q: immediate next step? \u003cPRED\u003eA: Wash the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you rinse off the espresso cup in the MK Q: immediate next step? \u003cPRED\u003eA: Wash the cup\n\u003c/PRED\u003e","video":"7342834087502401435.mp4"}
+{"uid":"3174472656297374195","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":"16818222655106659050.mp4"}
+{"uid":"12297138222293605182","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper piece on the counter top\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper piece on the counter top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6770068658406446954.mp4"}
+{"uid":"5230116274337193730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen 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":"15254681887862502188.mp4"}
+{"uid":"16976851529876011700","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":"4377582570752703743.mp4"}
+{"uid":"15777405715437368846","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- place pen on the table 3- place pen on the table 4- put pen on the table 5- put pens on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9486188216692837697.mp4"}
+{"uid":"12673767397358535076","text":"\u003ctask:success:discrete:True\u003e\nput pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"3351712178370236744.mp4"}
+{"uid":"6770353074218376806","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- put pens on the table 3- move the holder back side 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table 3- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"1509350950904363963.mp4"}
+{"uid":"6457588920595765521","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16298578188590585998.mp4"}
+{"uid":"1690085248620863122","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen on the table 2- put pen on the table 3- put pens on the table 4- move the holder back side 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove all the pens from the holder Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove all the pens from the holder. last 20 steps: 1- put pen on the table 2- place pen on the table Q: immediate next step? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen on the table\n\u003c/PRED\u003e","video":"1898823378452509763.mp4"}
+{"uid":"14619402625708458175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  pink sugar 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":"12749781130098800206.mp4"}
+{"uid":"12148715460881563743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"17834640421970489793.mp4"}
+{"uid":"9871453981609057280","text":"\u003ctask:success:discrete:True\u003e\nplace the stapler in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the stapler in the drawer\n\u003c/PRED\u003e","video":"6491543985794101707.mp4"}
+{"uid":"12798170479558897531","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"13121897575202456896.mp4"}
+{"uid":"17879322278362679763","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box 9- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box 9- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"13202421108048480999.mp4"}
+{"uid":"16579760358757375164","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"16299773553181019806.mp4"}
+{"uid":"15044801915978019407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white bottle 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":"12352827779936455931.mp4"}
+{"uid":"15786090744715583096","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":"17347756078735746612.mp4"}
+{"uid":"4662034740183056816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2449376903744251746.mp4"}
+{"uid":"9696331784620030742","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle 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: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"8300432287872173157.mp4"}
+{"uid":"6534937000180004812","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: open the top drawer of black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top drawer of black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top drawer of black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the top drawer of black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top drawer of black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer of black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"16001482479071254126.mp4"}
+{"uid":"6709305161429556107","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sanitizer into the first drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer into the first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sanitizer into the first 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 sanitizer into the first drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer into the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sanitizer into the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sanitizer into the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5482016252314318826.mp4"}
+{"uid":"14682694735990088057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the left side of 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":"595046017965394422.mp4"}
+{"uid":"522206796032798741","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle 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: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"2607613272160935381.mp4"}
+{"uid":"10095922006024337733","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":"1282104522121394260.mp4"}
+{"uid":"3572784870988381689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to 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":"3962923960140367997.mp4"}
+{"uid":"3776262114283749962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"483627753329134974.mp4"}
+{"uid":"16486947719711113384","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"5074546229622020853.mp4"}
+{"uid":"16050756094403138864","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the first 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 first drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the first drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle in the drawer Q: immediate next step? \u003cPRED\u003eA: close the first drawer\n\u003c/PRED\u003e","video":"16715233932765898423.mp4"}
+{"uid":"9695858518910024833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white colour packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6457914596091506832.mp4"}
+{"uid":"16771848780477646105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork in plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6537999336953539874.mp4"}
+{"uid":"13751415778339468540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coffee lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12223740886593816248.mp4"}
+{"uid":"3423698349026247791","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"14884778672552623376.mp4"}
+{"uid":"18279307293136573313","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the stapler 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: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table Q: immediate next step? \u003cPRED\u003eA: place the stapler in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the stapler in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the stapler in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: place the stapler in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table Q: next 5 steps? \u003cPRED\u003eA: 1- place the stapler in the drawer 2- place the sanitizer bottle in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the stapler in the drawer\n\u003c/PRED\u003e","video":"3880610893280370840.mp4"}
+{"uid":"4718472276933597975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace chocolate 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":"6015438382024489093.mp4"}
+{"uid":"3626580490766557018","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the markers 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":"7922165092903819168.mp4"}
+{"uid":"9101344433590736102","text":"\u003ctask:success:discrete:True\u003e\nput the stapler 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: put the stapler into the drawer\n\u003c/PRED\u003e","video":"7715445992911285342.mp4"}
+{"uid":"1096958598012527427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the file 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":"11097239874053294625.mp4"}
+{"uid":"6107818562687036133","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"17723815727790472494.mp4"}
+{"uid":"11717676874546000559","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e","video":"18439086446964893165.mp4"}
+{"uid":"1024685126156467954","text":"\u003ctask:success:discrete:True\u003e\ndrop the sanitizer into the first 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 sanitizer into the first drawer\n\u003c/PRED\u003e","video":"8166294609069252507.mp4"}
+{"uid":"16630288843703034993","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"14797752577606925494.mp4"}
+{"uid":"10569178414142642238","text":"\u003ctask:success:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e","video":"1008271900085216157.mp4"}
+{"uid":"7461583770585535993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5152715247278253837.mp4"}
+{"uid":"15431854640486955017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bandage roll in 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":"10556370380896041164.mp4"}
+{"uid":"3018811106619325670","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"2103313401375150633.mp4"}
+{"uid":"7428201395781825988","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"16642347836047987265.mp4"}
+{"uid":"1772508707484550092","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":"7060545765091814683.mp4"}
+{"uid":"16680437021390301170","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":"14792752243923391671.mp4"}
+{"uid":"4185587481100104683","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sanitizer bottle into the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sanitizer bottle 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: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: immediate next step? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sanitizer bottle into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e","video":"9293237039902071556.mp4"}
+{"uid":"17216859131115538725","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table Q: next 5 steps? \u003cPRED\u003eA: 1- put the stapler into the drawer 2- place the sanitizer bottle 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 stapler into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stapler into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table Q: immediate next step? \u003cPRED\u003eA: put the stapler into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: put the stapler into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the stapler 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\nput the stapler 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":"3026645835680579243.mp4"}
+{"uid":"17583613704053516541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black 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":"14172204052053010135.mp4"}
+{"uid":"3478142898713119157","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":"2146913163805869507.mp4"}
+{"uid":"12553362685127476165","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle 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: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: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer 3- place the sanitizer bottle 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":"2560615656301641210.mp4"}
+{"uid":"6798736722778685176","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the stapler in the drawer 3- place the sanitizer bottle in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"12290136773100791724.mp4"}
+{"uid":"17805429676873688724","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: drop the stapler into the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the stapler into the first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the stapler into the first drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the stapler into the first drawer 2- place the sanitizer bottle in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table Q: immediate next step? \u003cPRED\u003eA: drop the stapler into the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the stapler into the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 stapler into the first drawer\n\u003c/PRED\u003e","video":"13205527293522464757.mp4"}
+{"uid":"12600210162358080904","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":"2126075914608231811.mp4"}
+{"uid":"1406703507954785111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee 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":"10312423088800896747.mp4"}
+{"uid":"6314702988361192453","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":"9616536650291871204.mp4"}
+{"uid":"15194313363152504227","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer of black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the top drawer of black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10719636041277567199.mp4"}
+{"uid":"14806181425249902662","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the first drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the first drawer 2- place the stapler in the drawer 3- place the sanitizer bottle in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"16867196225242210790.mp4"}
+{"uid":"9099808927220141400","text":"\u003ctask:success:discrete:True\u003e\nplace the sanitizer bottle in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer bottle in the drawer\n\u003c/PRED\u003e","video":"2616765953674217583.mp4"}
+{"uid":"5285572739781612863","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me Q: immediate next step? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sanitizer bottle into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: immediate next step? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i finished using my hand sanitizer and stapler, please put them back in my file cabinet for me. last 20 steps: 1- open the top drawer of black table 2- place the stapler in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sanitizer bottle into the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sanitizer bottle 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sanitizer bottle into the drawer\n\u003c/PRED\u003e","video":"13942551966618063360.mp4"}
+{"uid":"866861566969827532","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the stapler into the first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the stapler into the first 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":"16832554385228292546.mp4"}
+{"uid":"11283162782878695102","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white cube in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut white 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white cube 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- keep paper in box 3- put wire in box 4- Put black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put white cube in the box 2- Put bottle in box 3- keep holder in box 4- keep wire in box 5- put apple in 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- keep paper in box 3- put wire in box 4- Put black wire in the box Q: immediate next step? \u003cPRED\u003eA: Put white cube 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 white cube in the box\n\u003c/PRED\u003e","video":"4887794941629430517.mp4"}
+{"uid":"8489814944650372599","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box Q: immediate next step? \u003cPRED\u003eA: put packet in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- put white object in box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"15684063082512735346.mp4"}
+{"uid":"13925331751109869196","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":"13242688300991847994.mp4"}
+{"uid":"1677440920460121214","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":"8261082223702926622.mp4"}
+{"uid":"2079477544322096865","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white object in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white object in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- put white object in box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white object in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white object in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put white object in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box Q: immediate next step? \u003cPRED\u003eA: put white object in box\n\u003c/PRED\u003e","video":"604311703960346098.mp4"}
+{"uid":"17559022317032723683","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: keep paper in 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: keep paper in 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- keep paper in box 2- put wire in box 3- Put black wire in the box 4- open square object in box 5- Put bottle in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep paper in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep paper in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep paper in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep paper in box\n\u003c/PRED\u003e","video":"6861559594988830018.mp4"}
+{"uid":"14593278564815953405","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- keep paper in box 3- put wire in box 4- Put black wire in the box Q: immediate next step? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cube 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: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cube 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- keep paper in box 3- put wire in box 4- Put black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cube into the box 2- Put bottle in box 3- keep holder in box 4- keep wire in box 5- put apple in 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 cube into the box\n\u003c/PRED\u003e","video":"13260769905228320479.mp4"}
+{"uid":"13840255106156731109","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:success:discrete:True\u003e\nput white object in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white object in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box 11- put white object in box Q: next 5 steps? \u003cPRED\u003eA: 1- 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box 11- put white object in box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5838143864612416012.mp4"}
+{"uid":"12766103451667547234","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 bottle in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box Q: immediate next step? \u003cPRED\u003eA: Put bottle in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put bottle in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put bottle in box 2- keep holder in box 3- keep wire in box 4- put apple in box 5- put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put bottle in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut bottle in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut bottle in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"204326473800024963.mp4"}
+{"uid":"13887149084692033570","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 pen holder into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen holder into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen holder 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\nDrop the pen holder 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box Q: immediate next step? \u003cPRED\u003eA: Drop the pen holder 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen holder into the box 2- keep wire in box 3- put apple in box 4- put packet in box 5- put white object in box\n\u003c/PRED\u003e","video":"15648712665641621997.mp4"}
+{"uid":"4554314122605164459","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":"10717471599010535486.mp4"}
+{"uid":"10354997103493643777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14497262232956099231.mp4"}
+{"uid":"18415096223998547001","text":"\u003ctask:success:discrete:True\u003e\nopen square object in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open square object in box\n\u003c/PRED\u003e","video":"5829811491614527518.mp4"}
+{"uid":"11253989247217614652","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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put black wire in the box 2- put apple in box 3- put packet in box 4- put white object in box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: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 black 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box Q: immediate next step? \u003cPRED\u003eA: Put 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 black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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","video":"16872063630729683235.mp4"}
+{"uid":"6865449363419780267","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cube into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the cube 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":"18067138492568403079.mp4"}
+{"uid":"16232395108335616384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15749143464660085121.mp4"}
+{"uid":"2939576191417632158","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":"16225554131444332836.mp4"}
+{"uid":"11033187528356935199","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":"1037361731364279175.mp4"}
+{"uid":"7327571418310997463","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep paper in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep paper in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15690646659666887689.mp4"}
+{"uid":"15385791649522314119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput badminton shuttlecock in baskets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15767774071951681358.mp4"}
+{"uid":"6076238265051563406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue 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":"12172390248620820796.mp4"}
+{"uid":"13673008235643543923","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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 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- keep paper in box 3- put wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put black wire in the box 2- open square object in box 3- Put bottle in box 4- keep holder in box 5- keep wire in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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 black 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- keep paper in box 3- put wire in box Q: immediate next step? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e","video":"2147163654223636206.mp4"}
+{"uid":"14685173394110459966","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":"8578216657056918773.mp4"}
+{"uid":"6346880467504173144","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 sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:affordance:discriminative:discrete:True\u003e\nPut 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box Q: immediate next step? \u003cPRED\u003eA: Put 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put sanitizer bottle in the box 2- keep holder in box 3- keep wire in box 4- put apple in box 5- put packet in box\n\u003c/PRED\u003e","video":"3525790831726329449.mp4"}
+{"uid":"12813676224859850193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6502319661481065711.mp4"}
+{"uid":"2529536664804024374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white cube in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut white 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","video":"11312216866276039147.mp4"}
+{"uid":"5295255038022491868","text":"\u003ctask:success:discrete:True\u003e\nDrop the bottle 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: Drop the bottle into the box\n\u003c/PRED\u003e","video":"8161399594006999329.mp4"}
+{"uid":"1638729142636689601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6726082448717733436.mp4"}
+{"uid":"10778422542438059022","text":"\u003ctask:success:discrete:True\u003e\nPut 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 black wire in the box\n\u003c/PRED\u003e","video":"8567459237921963337.mp4"}
+{"uid":"17670808231365126623","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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","video":"2664638392316814851.mp4"}
+{"uid":"326827005120848644","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep holder in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box Q: next 5 steps? \u003cPRED\u003eA: 1- keep holder in box 2- keep wire in box 3- put apple in box 4- put packet in box 5- put white object in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep holder in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box Q: immediate next step? \u003cPRED\u003eA: keep holder in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep holder in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: keep holder in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep holder in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18363356983573728534.mp4"}
+{"uid":"10211938393666609873","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the cable 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":"4196136741593940993.mp4"}
+{"uid":"4244124010344740035","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":"9815765171336268049.mp4"}
+{"uid":"5332998107058771352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put bottle in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut bottle in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13036491371344803691.mp4"}
+{"uid":"16742278183077527346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10352669983078620736.mp4"}
+{"uid":"13960232013946939081","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- keep paper in box 3- put wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cable into the box 2- open square object in box 3- Put bottle in box 4- keep holder in box 5- keep wire in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cable 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\nDrop the cable 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: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 into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cable 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- keep paper in box 3- put wire in box Q: immediate next step? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e","video":"18222042945001681718.mp4"}
+{"uid":"10399868842402741251","text":"\u003ctask:success:discrete:False\u003e\nopen 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\nopen 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: open 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 box 2- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in 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 box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open 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 box\n\u003c/PRED\u003e","video":"8547691695159214185.mp4"}
+{"uid":"5477433951511659534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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: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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop black wire into the box 2- put apple in box 3- put packet in box 4- put white object in box 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box Q: immediate next step? \u003cPRED\u003eA: Drop 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: Drop black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop black wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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","video":"375138954932838375.mp4"}
+{"uid":"4849717694511078199","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the stickey note book into box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the stickey note book into 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":"9661078701110514477.mp4"}
+{"uid":"782968198709533186","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put wire in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput wire in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"838165369771907504.mp4"}
+{"uid":"1156634715276918930","text":"\u003ctask:success:discrete:True\u003e\nDrop the pen holder 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: Drop the pen holder into the box\n\u003c/PRED\u003e","video":"6340763962224592694.mp4"}
+{"uid":"3923513701470869403","text":"\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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in 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: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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"15473875643587883946.mp4"}
+{"uid":"12581194497249149511","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 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put apple in the box 2- put packet in box 3- put white object in box 4- 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box Q: immediate next step? \u003cPRED\u003eA: Put apple in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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\nPut 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put apple in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put apple in the box\n\u003c/PRED\u003e","video":"7868707956212796273.mp4"}
+{"uid":"13571686326042076294","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep wire in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box Q: immediate next step? \u003cPRED\u003eA: keep wire in 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: keep wire in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep wire in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep wire in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box Q: next 5 steps? \u003cPRED\u003eA: 1- keep wire in box 2- put apple in box 3- put packet in box 4- put white object in box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep wire in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13438923411374451455.mp4"}
+{"uid":"4270755084079560971","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep wire in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep wire in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16912697990044633839.mp4"}
+{"uid":"14184862834838040084","text":"\u003ctask:success:discrete:True\u003e\nDrop the yellow packet 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: Drop the yellow packet into the box\n\u003c/PRED\u003e","video":"6466740741947388434.mp4"}
+{"uid":"4812592704637910484","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the apple 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box Q: immediate next step? \u003cPRED\u003eA: Drop the apple into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the apple 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: Drop the apple into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the apple 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: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 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the apple into the box 2- put packet in box 3- put white object in box 4- done\n\u003c/PRED\u003e","video":"14156134864117866100.mp4"}
+{"uid":"1271480927795006101","text":"\u003ctask:success:discrete:True\u003e\nput apple in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in box\n\u003c/PRED\u003e","video":"9071582765315013822.mp4"}
+{"uid":"16591819529425457760","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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","video":"14916233252473530102.mp4"}
+{"uid":"17357797337208665672","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":"14495875797132218190.mp4"}
+{"uid":"4610651695959702534","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 yellow packet into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow packet 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: Drop the yellow packet into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow packet 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: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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow packet into the box 2- put white object in box 3- 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow packet into the box\n\u003c/PRED\u003e","video":"5524734385008382323.mp4"}
+{"uid":"18188554226799708074","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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put black glass in the box 2- keep wire in box 3- put apple in box 4- put packet in box 5- put white object in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut black glass 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 black glass in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut black glass 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box Q: immediate next step? \u003cPRED\u003eA: Put black glass 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 black glass in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put black glass in the box\n\u003c/PRED\u003e","video":"17421416633272993393.mp4"}
+{"uid":"4182713603602300209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2865160771369989771.mp4"}
+{"uid":"6043937978839637392","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":"1696224920854850232.mp4"}
+{"uid":"12885393496440833693","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the cable 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":"11479282021725477182.mp4"}
+{"uid":"14526908309098487993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the s 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":"3712792454638366629.mp4"}
+{"uid":"16999649657416284221","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 bottle into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box Q: immediate next step? \u003cPRED\u003eA: Drop the bottle 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle into the box 2- keep holder in box 3- keep wire in box 4- put apple in box 5- put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle 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:affordance:discriminative:discrete:True\u003e\nDrop the bottle 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle into the box\n\u003c/PRED\u003e","video":"5642289175459777528.mp4"}
+{"uid":"7134754497655100048","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put stick note in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput stick note 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":"4208105425471474252.mp4"}
+{"uid":"6795965899880081541","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put tissue box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut tissue 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put tissue box 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box Q: immediate next step? \u003cPRED\u003eA: Put tissue box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut tissue 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: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 tissue box in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put tissue box in the box\n\u003c/PRED\u003e","video":"10499466351677395974.mp4"}
+{"uid":"7715632483948536106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange 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":"11953423304649791352.mp4"}
+{"uid":"5823889594324485459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"9110010314240755868.mp4"}
+{"uid":"1879833289106377368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon 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":"6612681746854670515.mp4"}
+{"uid":"1461586309930712431","text":"\u003ctask:success:discrete:True\u003e\nPut 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 black wire in the box\n\u003c/PRED\u003e","video":"1065262108999291700.mp4"}
+{"uid":"7788272701828010400","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15840499841157644296.mp4"}
+{"uid":"816401529644517590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPress the switch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1106511448416755750.mp4"}
+{"uid":"3189826102012566885","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop 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":"1680470616197121385.mp4"}
+{"uid":"4337004582402158344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace pen 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":"16050050896974073842.mp4"}
+{"uid":"17865003682516586773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow  stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7924004775176858891.mp4"}
+{"uid":"13248713649443911983","text":"\u003ctask:success:discrete:False\u003e\nput stick note 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 stick note 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 stick note 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: put stick note 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 stick note 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 Q: next 5 steps? \u003cPRED\u003eA: 1- put stick note in the box 2- put wire in box 3- Put black wire in the box 4- open square object in box 5- Put bottle in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stick note in the box\n\u003c/PRED\u003e","video":"17180827054410163267.mp4"}
+{"uid":"8962474673085743698","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the stickey note book into 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 Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the stickey note book into box 2- put wire in box 3- Put black wire in the box 4- open square object in box 5- Put bottle in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the stickey note book into 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 stickey note book into box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the stickey note book into 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 stickey note book into 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 stickey note book into box\n\u003c/PRED\u003e","video":"3485751854789817364.mp4"}
+{"uid":"7877451590267914892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the screw into 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":"9821222245823516522.mp4"}
+{"uid":"9960079207219572034","text":"\u003ctask:success:discrete:True\u003e\nPut 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: Put apple in the box\n\u003c/PRED\u003e","video":"5610976276834013747.mp4"}
+{"uid":"15983583142107772799","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":"11603266932384583005.mp4"}
+{"uid":"1805625377684792679","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":"12417185895521331087.mp4"}
+{"uid":"17230891255963960880","text":"\u003ctask:success:discrete:False\u003e\nDrop the tissue box 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the tissue box 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue box into 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box Q: immediate next step? \u003cPRED\u003eA: Drop the tissue box into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the tissue box 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: Drop the tissue box into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the tissue box into the box\n\u003c/PRED\u003e","video":"7131549414505343946.mp4"}
+{"uid":"12103432456986677084","text":"\u003ctask:success:discrete:False\u003e\nput wire in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire in 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- keep paper in box Q: next 5 steps? \u003cPRED\u003eA: 1- put wire in box 2- Put black wire in the box 3- open square object in box 4- Put bottle in box 5- keep holder in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire in 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 wire in 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- keep paper in box Q: immediate next step? \u003cPRED\u003eA: put wire in box\n\u003c/PRED\u003e","video":"17870055199452781991.mp4"}
+{"uid":"373209975176319562","text":"\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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: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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow packet in the box 2- put white object in box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box Q: immediate next step? \u003cPRED\u003eA: put yellow 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: put yellow packet in the box\n\u003c/PRED\u003e","video":"11636806340788036814.mp4"}
+{"uid":"3222347861742803520","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":"10850609957592196679.mp4"}
+{"uid":"1340133619699119580","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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in box 2- put packet in box 3- put white object in box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box Q: immediate next step? \u003cPRED\u003eA: put apple in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put apple in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5835585581785766033.mp4"}
+{"uid":"15024567936113763923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6403964970836332947.mp4"}
+{"uid":"15506390083585384233","text":"\u003ctask:success:discrete:True\u003e\nDrop the tissue box 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box 11- Drop the tissue box into 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the tissue box 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box 11- Drop the tissue box into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18339231951079751321.mp4"}
+{"uid":"10934905141751060017","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":"5053324102946828099.mp4"}
+{"uid":"18286920246029237003","text":"\u003ctask:success:discrete:True\u003e\nPut black glass 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 black glass in the box\n\u003c/PRED\u003e","video":"1624958157647356281.mp4"}
+{"uid":"5909542082111716282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the binder clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3243643366473452658.mp4"}
+{"uid":"16463593228240424741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the red pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8479040692566639266.mp4"}
+{"uid":"10081881272861017042","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"1046644303557028559.mp4"}
+{"uid":"10742159188810972068","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- keep paper in box 3- put wire in box 4- Put black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- open square object in box 2- Put bottle in box 3- keep holder in box 4- keep wire in box 5- put apple in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen square object in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- keep paper in box 3- put wire in box 4- Put black wire in the box Q: immediate next step? \u003cPRED\u003eA: open square object in 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 square object in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen square object in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open square object in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open square object in box\n\u003c/PRED\u003e","video":"13521951459674332557.mp4"}
+{"uid":"14617205260884133764","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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put tissue box 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box 11- Put tissue box in 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- keep paper in box 3- put wire in box 4- Put black wire in the box 5- open square object in box 6- Put bottle in box 7- keep holder in box 8- keep wire in box 9- put apple in box 10- put packet in box 11- Put tissue box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut tissue 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":"12263785044991794486.mp4"}
+{"uid":"13767678046883586110","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 cable 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- keep paper in box Q: immediate next step? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cable into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cable 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: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- keep paper in box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cable into the box 2- Put black wire in the box 3- open square object in box 4- Put bottle in box 5- keep holder in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cable 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","video":"7460327177156835059.mp4"}
+{"uid":"12522108717345642069","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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- keep paper in box Q: next 5 steps? \u003cPRED\u003eA: 1- Put black wire in the box 2- Put black wire in the box 3- open square object in box 4- Put bottle in box 5- keep holder in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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- keep paper in box Q: immediate next step? \u003cPRED\u003eA: Put black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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 black wire in the box\n\u003c/PRED\u003e","video":"1045840600288206651.mp4"}
+{"uid":"3691284654967211419","text":"\u003ctask:success:discrete:True\u003e\nkeep holder in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep holder in box\n\u003c/PRED\u003e","video":"1632899820887181531.mp4"}
+{"uid":"4098060702066694461","text":"\u003ctask:success:discrete:True\u003e\nput 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: put yellow packet in the box\n\u003c/PRED\u003e","video":"16149919860939409858.mp4"}
+{"uid":"7250412291447951009","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":"4332791841443935223.mp4"}
+{"uid":"8015844661305913633","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Move the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Move the trolley forward 5- Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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","video":"18305304649461572820.mp4"}
+{"uid":"7396209148252045497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple 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":"7416643436512773878.mp4"}
+{"uid":"14399566582890463847","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":"15092619254438303921.mp4"}
+{"uid":"4152899827954739129","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn on the lamp\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn on the lamp\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn on the lamp Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn on the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: turn on the lamp\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: turn on the lamp\n\u003c/PRED\u003e","video":"9592047222776394877.mp4"}
+{"uid":"10365601707766422408","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the chairs Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder 15- Place the sticky note inside the stand 16- Move the trolley forward 17- Arrange the chairs Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chairs\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder 15- Place the sticky note inside the stand 16- Move the trolley forward 17- Arrange the chairs Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17358802543555902791.mp4"}
+{"uid":"5241360339991371912","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":"797319044294837661.mp4"}
+{"uid":"11577687813978418742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue 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":"17555896927969018537.mp4"}
+{"uid":"12818489553582870189","text":"\u003ctask:success:discrete:True\u003e\nPlace the sticky note inside the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e","video":"8952008729409001741.mp4"}
+{"uid":"14432391338462074645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11472332939676183185.mp4"}
+{"uid":"15561926579649873158","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: Can you turn on the light and set up the board game for us to play? 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: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board 6- place the dice on the board Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- move the board forward 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board 6- place the dice on the board 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: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":"10122486830955289426.mp4"}
+{"uid":"18214452129157051318","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":"13666311435732219212.mp4"}
+{"uid":"11215096715867121591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the yogurt 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":"12389445693294521632.mp4"}
+{"uid":"11189589158985806594","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky note inside the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky note inside 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: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky note inside the stand 2- Move the trolley forward 3- Place the blue pen inside the holder 4- Place the sticky note inside the stand 5- Move the trolley forward\n\u003c/PRED\u003e","video":"17027150299590526668.mp4"}
+{"uid":"12058840839535676341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3943827857891394860.mp4"}
+{"uid":"4349828682899050017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy 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":"7780563449046015941.mp4"}
+{"uid":"12560628239277790342","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":"5269771113709494912.mp4"}
+{"uid":"9969924867510142336","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Move the trolley forward 5- Arrange the chairs\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue 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 blue pen inside the holder\n\u003c/PRED\u003e","video":"16123673319718483139.mp4"}
+{"uid":"4763179732487718232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp Q: immediate next step? \u003cPRED\u003eA: place the board on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the board on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the board on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the board on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the board on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: place the board on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp Q: next 5 steps? \u003cPRED\u003eA: 1- place the board on the table 2- open the drawer 3- place the packet on the board 4- place the packet on the board 5- place the dice on the board\n\u003c/PRED\u003e","video":"943488012090299671.mp4"}
+{"uid":"1912694655417774128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup a white color bowl and place it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6381915079513574170.mp4"}
+{"uid":"16750613527418535711","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":"15021348992056771414.mp4"}
+{"uid":"934989448606950854","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder 15- Place the sticky note inside the stand 16- Move the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chairs 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chairs Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the chairs Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chairs\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder 15- Place the sticky note inside the stand 16- Move the trolley forward Q: immediate next step? \u003cPRED\u003eA: Arrange the chairs\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chairs\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chairs\n\u003c/PRED\u003e","video":"17289741736149805312.mp4"}
+{"uid":"11366899003175775701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift up the screen cleaning wipe sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17327429155886600150.mp4"}
+{"uid":"7912113578262617296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coke can in right tray of the existing coke can tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11003473749413212619.mp4"}
+{"uid":"1264313852306278822","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue 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":"18223755450501851121.mp4"}
+{"uid":"4525241540387415509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the board on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the board on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3517601778289604853.mp4"}
+{"uid":"690262569100983022","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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","video":"722406557420777815.mp4"}
+{"uid":"3827274907559681534","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:success:discrete:False\u003e\nMove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Move the trolley forward 2- Place the blue pen inside the holder 3- Place the blue pen inside the holder 4- Place the blue pen inside the holder 5- Place the sticky note inside the stand\n\u003c/PRED\u003e","video":"17349055763320238625.mp4"}
+{"uid":"11611809987517890219","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":"15920680601883703746.mp4"}
+{"uid":"5266752601484409129","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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 blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Place the sticky note inside the stand 3- Move the trolley forward 4- Place the blue pen inside the holder 5- Place the blue pen inside the holder\n\u003c/PRED\u003e","video":"1240703532215063772.mp4"}
+{"uid":"15938158074033815885","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky note inside the stand 2- Place the blue pen inside the holder 3- Move the trolley forward 4- Place the blue pen inside the holder 5- Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky note inside the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky note inside 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: Place the sticky note inside the stand\n\u003c/PRED\u003e","video":"6045555009797853077.mp4"}
+{"uid":"10590515104072722332","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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","video":"8006457099546602454.mp4"}
+{"uid":"15139110543469724150","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue 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: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue 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 blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Place the sticky note inside the stand 3- Place the blue pen inside the holder 4- Move the trolley forward 5- Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e","video":"6019480174948131245.mp4"}
+{"uid":"8186758373711796139","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the dice on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the dice 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:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: place the dice on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board Q: immediate next step? \u003cPRED\u003eA: place the dice on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the dice on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board Q: next 5 steps? \u003cPRED\u003eA: 1- place the dice on the board 2- close the drawer 3- move the board forward 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the dice 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","video":"6507696474176709231.mp4"}
+{"uid":"1600724391826963466","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Move the trolley forward 3- Place the blue pen inside the holder 4- Place the sticky note inside the stand 5- Move the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue 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 blue pen inside the holder\n\u003c/PRED\u003e","video":"3928639455421554470.mp4"}
+{"uid":"9806840699994633089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the leftmost indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6021588979319469915.mp4"}
+{"uid":"2767166396477907376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6204177469142695098.mp4"}
+{"uid":"5288592430258341999","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue 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 blue pen inside the holder\n\u003c/PRED\u003e","video":"4432975887319205840.mp4"}
+{"uid":"12414528872384111064","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board 6- place the dice on the board 7- close the drawer Q: immediate next step? \u003cPRED\u003eA: move the board forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the board forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the board forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the board forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: move the board forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board 5- place the packet on the board 6- place the dice on the board 7- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move the board forward 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the board forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17235129885158726711.mp4"}
+{"uid":"12128422040338058159","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky note inside the stand 2- Move the trolley forward 3- Place the blue pen inside the holder 4- Place the blue pen inside the holder 5- Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky note inside the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky note inside the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3367450606834770797.mp4"}
+{"uid":"6532097887854637082","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Move the trolley forward 5- Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e","video":"8566776334131216322.mp4"}
+{"uid":"13067425219515050135","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":"9890020300133109665.mp4"}
+{"uid":"8980275197226226841","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Place the sticky note inside the stand 3- Move the trolley forward 4- Place the blue pen inside the holder 5- Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward Q: immediate next step? \u003cPRED\u003eA: Place the blue 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 blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue 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 blue 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: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e","video":"11080385845039328198.mp4"}
+{"uid":"12024593076684860403","text":"\u003ctask:success:discrete:True\u003e\nturn on the lamp Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: turn on the lamp\n\u003c/PRED\u003e","video":"13376344875510377759.mp4"}
+{"uid":"2574438771991960179","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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","video":"11487361543549090908.mp4"}
+{"uid":"13612546648561950415","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the trolley forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the trolley forward\n\u003c/PRED\u003e","video":"5095419602839071486.mp4"}
+{"uid":"10081063189511645046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sticky note inside 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":"4467485597697063952.mp4"}
+{"uid":"8798561612688962203","text":"\u003ctask:success:discrete:False\u003e\nplace the packet 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: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the board 2- place the packet on the board 3- place the dice on the board 4- close the drawer 5- move the board forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e","video":"14057115914125027658.mp4"}
+{"uid":"4116084648970328526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board Q: immediate next step? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: place the packet on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table 3- open the drawer 4- place the packet on the board Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the board 2- place the dice on the board 3- close the drawer 4- move the board forward 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 board\n\u003c/PRED\u003e","video":"8766498396043053237.mp4"}
+{"uid":"14104558376797272065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink pouch 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":"15443341358466657857.mp4"}
+{"uid":"15338920329946017422","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- turn on the lamp 2- place the board on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the packet on the board 3- place the packet on the board 4- place the dice on the board 5- close 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":"15522807095850326239.mp4"}
+{"uid":"11662636984085215424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7055779180762953588.mp4"}
+{"uid":"746874871778843109","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue 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 blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Place the blue pen inside the holder 3- Place the blue pen inside the holder 4- Place the sticky note inside the stand 5- Move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e","video":"16606778643809320271.mp4"}
+{"uid":"16985783227431111141","text":"\u003ctask:success:discrete:True\u003e\nPlace the sticky note inside the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e","video":"14226770367146460337.mp4"}
+{"uid":"14037487591839895352","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky note inside the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky note inside the stand 2- Move the trolley forward 3- Arrange the chairs 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the sticky note inside the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky note inside the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10061536678411878008.mp4"}
+{"uid":"16107122403632369801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14250420093947970818.mp4"}
+{"uid":"17817413687943635687","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":"14535168743825213550.mp4"}
+{"uid":"16490278148135306055","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder 15- Place the sticky note inside the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Move the trolley forward 2- Arrange the chairs 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder 14- Place the blue pen inside the holder 15- Place the sticky note inside the stand Q: immediate next step? \u003cPRED\u003eA: Move the trolley forward\n\u003c/PRED\u003e","video":"6542367516887060973.mp4"}
+{"uid":"13764384864352891084","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue 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 blue pen inside the holder\n\u003c/PRED\u003e","video":"14837669839529387554.mp4"}
+{"uid":"3791602392002998185","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":"7880231199558930541.mp4"}
+{"uid":"809111156401689302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue black 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":"12267962135981112437.mp4"}
+{"uid":"10596505628825371621","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":"1607662875261835843.mp4"}
+{"uid":"3263093915996529115","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue 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 blue pen inside the holder\n\u003c/PRED\u003e","video":"17613606927235604806.mp4"}
+{"uid":"11874746706264789049","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs Q: immediate next step? \u003cPRED\u003eA: Place the blue 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 blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder Q: immediate next step? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting is over, please put the pens and sticky notes back into the cart, then push in all the chairs. last 20 steps: 1- Place the trolley forward 2- Place the blue pen inside the holder 3- Place the sticky note inside the stand 4- Place the blue pen inside the holder 5- Move the trolley forward 6- Place the blue pen inside the holder 7- Place the sticky note inside the stand 8- Move the trolley forward 9- Place the blue pen inside the holder 10- Place the sticky note inside the stand 11- Move the trolley forward 12- Place the blue pen inside the holder 13- Place the blue pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen inside the holder 2- Place the sticky note inside the stand 3- Move the trolley forward 4- Arrange the chairs 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen inside the holder\n\u003c/PRED\u003e","video":"4208069428831541878.mp4"}
+{"uid":"5008759170601283646","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon in the left paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e","video":"6969807804098027471.mp4"}
+{"uid":"12076869547140528103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16046905161875969960.mp4"}
+{"uid":"7072048505681693294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"959605611362538621.mp4"}
+{"uid":"6533072613192643113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass towards right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4477141888746944363.mp4"}
+{"uid":"5010414686847705795","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":"7756188003671884155.mp4"}
+{"uid":"307796794768537480","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":"16054399553462186184.mp4"}
+{"uid":"16190647868578372861","text":"\u003ctask:success:discrete:False\u003e\ndrop the knife into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"3433191622339766212.mp4"}
+{"uid":"17692356103647842461","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- drop the spork into the cup 6- Put the fork in the right paper glass 7- Put the fork in the right paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the fork in the right paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- drop the spork into the cup 6- Put the fork in the right paper glass 7- Put the fork in the right paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the fork in the right paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"7076519022758552011.mp4"}
+{"uid":"104631479821033126","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16451324749610773184.mp4"}
+{"uid":"9604242195734015081","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the fork in the right paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"1868063874308612421.mp4"}
+{"uid":"3069406989308110248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids 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":"14703746577798697766.mp4"}
+{"uid":"8085895708711910865","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":"17985585277737333338.mp4"}
+{"uid":"3933099722644874400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11294354941213423192.mp4"}
+{"uid":"2179338125486951008","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the fork in the right paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- Put the spoon in the left paper glass 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the fork in the right paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\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 paper glass\n\u003c/PRED\u003e","video":"13930922610628975757.mp4"}
+{"uid":"5108063443331347283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white  bag on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8468843440567497504.mp4"}
+{"uid":"2691993928727330852","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"13323378511534028025.mp4"}
+{"uid":"15814758538590644146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5060315373434611524.mp4"}
+{"uid":"16326302142576875256","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":"4766743207433138999.mp4"}
+{"uid":"8095608284549892084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"11013616934243991066.mp4"}
+{"uid":"15416628307096227959","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- Put the sticky notes in the tray 2- Put the sticky notes in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the tray 2- Put the yellow marker in the tray 3- Put the blue marker in the tray 4- Put the green marker in the tray 5- Put the pink 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- Put the sticky notes in the tray 2- Put the sticky notes in the tray Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes 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: Put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes 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 sticky notes in the tray\n\u003c/PRED\u003e","video":"3477958005147461179.mp4"}
+{"uid":"14573567807689931303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3841428067441782352.mp4"}
+{"uid":"4445567348250890636","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the fork in the right paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"3844590792476126622.mp4"}
+{"uid":"9645583958078300503","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e","video":"1249352766704338551.mp4"}
+{"uid":"11234756815658178280","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the fork in the right paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- Put the spoon in the left paper glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the fork in the right paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e","video":"6315553330253565706.mp4"}
+{"uid":"17307215172213853788","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":"15341578566068608671.mp4"}
+{"uid":"1888637016692567733","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- Put the knife in the middle paper glass 6- Put the knife in the middle paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the fork in the right paper glass 15- Put the spoon in the left paper glass 16- Put the spoon in the left paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon into 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: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- Put the knife in the middle paper glass 6- Put the knife in the middle paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the fork in the right paper glass 15- Put the spoon in the left paper glass 16- Put the spoon in the left paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"11885751816512635552.mp4"}
+{"uid":"13482756677812806797","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachio in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7771129761665451952.mp4"}
+{"uid":"7713483369957404527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"10401170314089312964.mp4"}
+{"uid":"11703943442421335085","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7251506138115673149.mp4"}
+{"uid":"4292199186027090023","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachio 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 pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the paper bowl 2- put the scoop in the holder 3- close the lid of the jar 4- move the paper bowl forward 5- done\n\u003c/PRED\u003e","video":"16873892997837730462.mp4"}
+{"uid":"15193733908403941201","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachio in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10761135154512979898.mp4"}
+{"uid":"4995553139052279072","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass\n\u003c/PRED\u003e","video":"3286522085225430674.mp4"}
+{"uid":"877292635642160263","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":"17513640446847737681.mp4"}
+{"uid":"17486076484123498110","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"7785473601688747599.mp4"}
+{"uid":"6960137909610863299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nacho bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11395474520546767627.mp4"}
+{"uid":"17169451724512485287","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\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 paper glass\n\u003c/PRED\u003e","video":"16948358920780663324.mp4"}
+{"uid":"1995454032392861196","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":"17436259752235321931.mp4"}
+{"uid":"9604905989257029557","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"9414395686572714209.mp4"}
+{"uid":"100265033926032999","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":"2292620376974913226.mp4"}
+{"uid":"14232865074429135279","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e","video":"10750099932923453810.mp4"}
+{"uid":"3725251657006399667","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the middle paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab a 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"632023770767887307.mp4"}
+{"uid":"3037509224526729544","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the paper bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: place the paper bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper bowl on the table\n\u003c/PRED\u003e","video":"5454497638046847551.mp4"}
+{"uid":"9351903707984536978","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fork in the right paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e","video":"15238518549308186932.mp4"}
+{"uid":"12936957096498712224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKnock the cardboard box 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":"5881085785748022132.mp4"}
+{"uid":"11975660725631195076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"4331599305896172408.mp4"}
+{"uid":"11664070455088499402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snack 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":"2633639719631797053.mp4"}
+{"uid":"18408978339879089734","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio 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 pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the paper bowl 2- put pistachio in the paper bowl 3- put the scoop in the holder 4- close the lid of the jar 5- move the paper bowl forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e","video":"9427507064707631875.mp4"}
+{"uid":"8479211637123763456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sticky notes 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":"7789953862250935649.mp4"}
+{"uid":"13016054796246660725","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the scoop in the holder 2- close the lid of the jar 3- move the paper bowl forward 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e","video":"8239823947314114102.mp4"}
+{"uid":"2366249509971079528","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass 6- Put the knife in the middle paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the fork in the right paper glass 16- Put the spoon in the left paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- Put the spoon in the left paper glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass 6- Put the knife in the middle paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the fork in the right paper glass 16- Put the spoon in the left paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"365505548495229812.mp4"}
+{"uid":"4891039848758033314","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in the paper bowl 2- put pistachio in the paper bowl 3- put pistachio in the paper bowl 4- put the scoop in the holder 5- close the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio 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:success:discrete:False\u003e\nput pistachio in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar Q: immediate next step? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: put pistachio in the paper bowl\n\u003c/PRED\u003e","video":"8832659307312216500.mp4"}
+{"uid":"7006594850907468751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6979228403950908662.mp4"}
+{"uid":"15228721940359692180","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"15005914211577697352.mp4"}
+{"uid":"11683783152437364363","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e","video":"10226045176400688504.mp4"}
+{"uid":"4716788268696274525","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"17153710825745362224.mp4"}
+{"uid":"4445917919790685702","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"11726235709422450897.mp4"}
+{"uid":"11675816512314353498","text":"\u003ctask:success:discrete:False\u003e\nPut the sticky notes 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 sticky notes 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: Put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes 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: Put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray 5- Put the blue marker in the tray\n\u003c/PRED\u003e","video":"10657576285769458557.mp4"}
+{"uid":"304144791981095996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7230868557957201424.mp4"}
+{"uid":"12497819094848029802","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the carboard 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spork into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e","video":"17685305754511205734.mp4"}
+{"uid":"4028180091875799655","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid of the jar 2- put pistachio in the paper bowl 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table Q: immediate next step? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e","video":"18190220751704882782.mp4"}
+{"uid":"3296839958461211688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7422402760120129584.mp4"}
+{"uid":"6611554349373244626","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":"6112111407963919927.mp4"}
+{"uid":"7096300242109723856","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass 6- drop the spork into the cup 7- Put the fork in the right paper glass 8- Put the fork in the right paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the fork in the right paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass 6- drop the spork into the cup 7- Put the fork in the right paper glass 8- Put the fork in the right paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the fork in the right paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"12067618321293276483.mp4"}
+{"uid":"6829977350554540356","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl 6- put the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid of the jar 2- move the paper bowl forward 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl 6- put the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: close the lid of the jar\n\u003c/PRED\u003e","video":"891555660367341367.mp4"}
+{"uid":"10619614282572104104","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the fork in the right paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"7967782467086675827.mp4"}
+{"uid":"3870553601371453365","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":"4468782856510810469.mp4"}
+{"uid":"16833518020744552039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown object 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":"6835649861269427092.mp4"}
+{"uid":"10322157290597440109","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl 6- put the scoop in the holder 7- close the lid of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- move the paper bowl forward 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the paper bowl forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the paper bowl forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the paper bowl forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK?. last 20 steps: 1- place the paper bowl on the table 2- open the lid of the jar 3- put pistachio in the paper bowl 4- put pistachio in the paper bowl 5- put pistachio in the paper bowl 6- put the scoop in the holder 7- close the lid of the jar Q: immediate next step? \u003cPRED\u003eA: move the paper bowl forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab me a bowl of pistachios from the MK? Q: immediate next step? \u003cPRED\u003eA: move the paper bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the paper bowl 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","video":"13317384694376248247.mp4"}
+{"uid":"443327605164747707","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":"5513732198121734210.mp4"}
+{"uid":"1473701013338371477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the heart shaped block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4814815677446323432.mp4"}
+{"uid":"2338031937069491380","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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker in the tray 2- Put the green marker in the tray 3- Put the pink marker in the tray 4- 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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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: Put the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker in the tray\n\u003c/PRED\u003e","video":"7036884696724854856.mp4"}
+{"uid":"4876861521036354776","text":"\u003ctask:success:discrete:True\u003e\nput the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scoop in the holder\n\u003c/PRED\u003e","video":"432149810641896425.mp4"}
+{"uid":"10741389299458027671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet 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":"6288417787760069331.mp4"}
+{"uid":"9831525009427860418","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the lid of 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":"7252679973450770228.mp4"}
+{"uid":"11695811643307374197","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the knife in the middle paper glass 19- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon into 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\ndrop the spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"2695277052902013219.mp4"}
+{"uid":"13947077968334121725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the seaweed snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13625711967993120826.mp4"}
+{"uid":"8564165584379465115","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e","video":"7280002146029065353.mp4"}
+{"uid":"6808259591240568358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm 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":"5325294565845285042.mp4"}
+{"uid":"9357134978294865340","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e","video":"11700919341385733059.mp4"}
+{"uid":"4344192504932654645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white 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":"5140979662163807782.mp4"}
+{"uid":"8599728074923354793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the pista in 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":"15974815040550780748.mp4"}
+{"uid":"11624602992416915390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"18073483606936142202.mp4"}
+{"uid":"13633883532397622781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the table with tissue papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13861739873317649044.mp4"}
+{"uid":"6347688185292268980","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- Put the knife in the middle paper glass 6- Put the knife in the middle paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the fork in the right paper glass 15- Put the spoon in the left paper glass 16- Put the spoon in the left paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- Put the knife in the middle paper glass 6- Put the knife in the middle paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the fork in the right paper glass 15- Put the spoon in the left paper glass 16- Put the spoon in the left paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- done\n\u003c/PRED\u003e","video":"1728480985576912188.mp4"}
+{"uid":"1814026922417338848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3823350247444319979.mp4"}
+{"uid":"7575981377471517670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup 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":"1521973111188746187.mp4"}
+{"uid":"13097038986790563832","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the fork in the right paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e","video":"13682226472762070663.mp4"}
+{"uid":"14356122962941322042","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the fork in the right paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"14332787743929309664.mp4"}
+{"uid":"8037874401115345501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"7905457843780811780.mp4"}
+{"uid":"983426995708083500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"4850913812563534862.mp4"}
+{"uid":"10515447109770539033","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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray 5- Put the blue marker in the tray 6- Put the green marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink marker in the tray 2- 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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray 5- Put the blue marker in the tray 6- Put the green marker in the tray Q: immediate next step? \u003cPRED\u003eA: Put the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink 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: Put the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink 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:affordance:discriminative:discrete:True\u003e\nPut the pink 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","video":"6688860917993223686.mp4"}
+{"uid":"5134794324326421427","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\u003ctask:affordance:discriminative:discrete:False\u003e\nput up 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":"5878348188096844218.mp4"}
+{"uid":"2869573400503742468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar 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":"12560870719497661988.mp4"}
+{"uid":"15324451579847614115","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2300759351555330986.mp4"}
+{"uid":"8598750998252163947","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":"10594720810107657428.mp4"}
+{"uid":"2346323697645850775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17869206657138582944.mp4"}
+{"uid":"12030330598285290091","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass 6- drop the spork into the cup 7- Put the fork in the right paper glass 8- Put the fork in the right paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the fork in the right paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\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 paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass 6- drop the spork into the cup 7- Put the fork in the right paper glass 8- Put the fork in the right paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass 18- Put the fork in the right paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e","video":"9882212874121864193.mp4"}
+{"uid":"15502637026163695247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13355496985226514871.mp4"}
+{"uid":"3369102115111863154","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the fork in the right paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- Put the knife in the middle paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the fork in the right paper glass 17- Put the spoon in the left paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into the cup 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into the cup\n\u003c/PRED\u003e","video":"1281243369866459832.mp4"}
+{"uid":"8977183140514880055","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into 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: drop the spork into the cup\n\u003c/PRED\u003e","video":"11325802847684936464.mp4"}
+{"uid":"4996289658161777974","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the fork in the right paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"678477898520831992.mp4"}
+{"uid":"4700357621531142717","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e","video":"18352900307769025692.mp4"}
+{"uid":"4368269251802597618","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4338457541423774344.mp4"}
+{"uid":"18219007067167421688","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":"3948597761545849722.mp4"}
+{"uid":"4520577219329239324","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- drop the spork into the cup 6- Put the fork in the right paper glass 7- Put the fork in the right paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the fork in the right paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left paper glass 2- Put the spoon in the left paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- Put the fork in the right paper glass 2- drop the spork into the cup 3- Put the fork in the right paper glass 4- Put the fork in the right paper glass 5- drop the spork into the cup 6- Put the fork in the right paper glass 7- Put the fork in the right paper glass 8- Put the knife in the middle paper glass 9- Put the knife in the middle paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the fork in the right paper glass 18- Put the spoon in the left paper glass 19- Put the spoon in the left paper glass 20- Put the spoon in the left paper glass Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left paper glass\n\u003c/PRED\u003e","video":"16904846096222861614.mp4"}
+{"uid":"2657104020842611169","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes 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: Put the sticky notes in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes 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- Put the sticky notes in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the yellow marker in the tray 4- Put the blue marker in the tray 5- Put the green marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes 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- Put the sticky notes in the tray Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the tray\n\u003c/PRED\u003e","video":"15617623503872659283.mp4"}
+{"uid":"7668300035130390658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue marker into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8197814612235359753.mp4"}
+{"uid":"8119325550707114912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15815045288986887391.mp4"}
+{"uid":"15961685344644715091","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13907935086384844430.mp4"}
+{"uid":"6310816422393330665","text":"\u003ctask:success:discrete:True\u003e\nclose the lid of 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: close the lid of the jar\n\u003c/PRED\u003e","video":"12787715293788112350.mp4"}
+{"uid":"4457149672929343192","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spork into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the spork into the cup\n\u003c/PRED\u003e","video":"17080552346578563817.mp4"}
+{"uid":"11394441558112681851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7685625894782937674.mp4"}
+{"uid":"16778069997691329222","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":"11387926443139389711.mp4"}
+{"uid":"10963858312972033108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace brown chip 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":"6693349486187606621.mp4"}
+{"uid":"4208105731357727170","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":"9948332443036192204.mp4"}
+{"uid":"17718357938760265284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess piece 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":"2004350386555261228.mp4"}
+{"uid":"6728488200281587119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12271602853774832216.mp4"}
+{"uid":"10981778803945243758","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into 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: drop the knife into the cup\n\u003c/PRED\u003e","video":"327153741126588353.mp4"}
+{"uid":"11249711296994638153","text":"\u003ctask:success:discrete:False\u003e\nPut the fork in the right paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e","video":"16992071947044902323.mp4"}
+{"uid":"11108261609562061460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace fork on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6739209862254143892.mp4"}
+{"uid":"14207475736455969511","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fork in the right paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e","video":"16413544612616491607.mp4"}
+{"uid":"905014303038818954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12034210516003983864.mp4"}
+{"uid":"13587604497489936992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12356598526517646849.mp4"}
+{"uid":"15982201502327057760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  redbull can\n 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":"13842134178539040194.mp4"}
+{"uid":"12246591240222977514","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into the cup 2- Put the knife in the middle paper glass 3- Put the knife in the middle paper glass 4- Put the knife in the middle paper glass 5- Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into the cup\n\u003c/PRED\u003e","video":"3717714291547863429.mp4"}
+{"uid":"6301504873098472907","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle paper glass 2- Put the fork in the right paper glass 3- Put the spoon in the left paper glass 4- Put the spoon in the left paper glass 5- Put the spoon in the left paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup 2- Put the fork in the right paper glass 3- Put the fork in the right paper glass 4- drop the spork into the cup 5- Put the fork in the right paper glass 6- Put the fork in the right paper glass 7- drop the spork into the cup 8- Put the fork in the right paper glass 9- Put the fork in the right paper glass 10- Put the knife in the middle paper glass 11- Put the knife in the middle paper glass 12- Put the knife in the middle paper glass 13- Put the knife in the middle paper glass 14- Put the knife in the middle paper glass 15- Put the knife in the middle paper glass 16- Put the knife in the middle paper glass 17- Put the knife in the middle paper glass Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle paper glass\n\u003c/PRED\u003e","video":"10633851063874910224.mp4"}
+{"uid":"6881824843211406761","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":"7207157898936124417.mp4"}
+{"uid":"5183055267548601190","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- drop the spork into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right paper glass 2- Put the fork in the right paper glass 3- drop the spork into the cup 4- Put the fork in the right paper glass 5- Put the fork in the right paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1540231086087282898.mp4"}
+{"uid":"4512612036713374378","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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray 5- Put the blue marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the tray 2- Put the pink marker in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray 4- Put the yellow marker in the tray 5- Put the blue marker in the tray Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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: Put the green marker in the tray\n\u003c/PRED\u003e","video":"9142117617080087161.mp4"}
+{"uid":"11759715934060780394","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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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- Put the sticky notes in the tray 2- Put the sticky notes in the tray 3- Put the sticky notes in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the tray 2- Put the blue marker in the tray 3- Put the green marker in the tray 4- Put the pink marker in the tray 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: Put the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the tray\n\u003c/PRED\u003e","video":"14638792282702613006.mp4"}
+{"uid":"12559900726491899716","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":"9918631533966672396.mp4"}
+{"uid":"4235310642369056476","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":"4410767606353439875.mp4"}
+{"uid":"1617867154438524996","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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: Drop packet into jar\n\u003c/PRED\u003e","video":"12820933709061272825.mp4"}
+{"uid":"10187277067357977777","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":"4171978421016068246.mp4"}
+{"uid":"7501891554442791820","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- put the 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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 packet in the jar\n\u003c/PRED\u003e","video":"7454027314895126943.mp4"}
+{"uid":"8170046071754509732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"941187207101930565.mp4"}
+{"uid":"11575945027909497739","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen into 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: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- put the packet in the jar 3- Drop pen into stand 4- Drop pen into stand 5- upright the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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":"4661024944430054062.mp4"}
+{"uid":"358027634738049033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea 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":"10558939503575542009.mp4"}
+{"uid":"6744817867183502365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue 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":"8789250029988127031.mp4"}
+{"uid":"13608301610139274047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green 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":"10922749557075264916.mp4"}
+{"uid":"7456351757700325045","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- put the packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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 pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e","video":"6798927263888699068.mp4"}
+{"uid":"2219081203473434896","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- put white packet in glass 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 white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- put white packet in glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6735817529002717830.mp4"}
+{"uid":"9028828421711795569","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in 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":"4341971162297780596.mp4"}
+{"uid":"744975119477006167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6849995109701238026.mp4"}
+{"uid":"515505587863415108","text":"\u003ctask:success:discrete:False\u003e\nput blue pen in 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 snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in pen holder 2- upright the pen stand 3- Drop packet into jar 4- Drop packet into jar 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in 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 blue pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put blue pen in pen holder\n\u003c/PRED\u003e","video":"4995780478567092589.mp4"}
+{"uid":"12611369767470470192","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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 packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- Drop pen into stand 3- Drop pen into stand 4- upright the pen stand 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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":"13436302464092394212.mp4"}
+{"uid":"14454966950070415032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grey packet in the middle of organizer in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3187465889310483842.mp4"}
+{"uid":"17196928888239817511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15304957657955252013.mp4"}
+{"uid":"3174288180554376654","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in 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 black pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in 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 snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the black pen in 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 in pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in pen holder 2- Drop pen into stand 3- upright the pen stand 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e","video":"3221055701115976575.mp4"}
+{"uid":"967045664252257710","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the jar 2- Drop pen into stand 3- put the packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e","video":"10744381032401143380.mp4"}
+{"uid":"4992232409700898754","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- put the 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15190628943218472329.mp4"}
+{"uid":"11283789283084675884","text":"\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\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","video":"3955675803207974058.mp4"}
+{"uid":"3100730858042132569","text":"\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"10688524042040369955.mp4"}
+{"uid":"8383248229707568937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the orange ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7704468797522088450.mp4"}
+{"uid":"13610201179960739480","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop 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":"12676816095057716277.mp4"}
+{"uid":"15477044930005985951","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":"6946741836953558713.mp4"}
+{"uid":"2302331121048619075","text":"\u003ctask:success:discrete:True\u003e\nput the black pen in 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 black pen in pen holder\n\u003c/PRED\u003e","video":"15755294451566747940.mp4"}
+{"uid":"13032055161995777630","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":"14646508653364514087.mp4"}
+{"uid":"2484988874008191482","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"882119245355967935.mp4"}
+{"uid":"11540577137845195745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red  packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13522436601379719488.mp4"}
+{"uid":"4003693521905169138","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- Drop pen into stand 3- upright the pen stand 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"13621227092454657538.mp4"}
+{"uid":"17370870321621364794","text":"\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: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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- Drop pen into stand 3- Drop pen into stand 4- upright the pen stand 5- Drop packet into jar\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: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","video":"17907725600201047352.mp4"}
+{"uid":"243034584089836830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16350035281968982941.mp4"}
+{"uid":"13242031029961033389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13856831015873385900.mp4"}
+{"uid":"3273323143632430088","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":"6962955989700097873.mp4"}
+{"uid":"17053240150726316742","text":"\u003ctask:success:discrete:False\u003e\nput orange pen in 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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put orange pen in pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in pen holder 2- put the packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in 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 orange pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put orange pen in pen holder\n\u003c/PRED\u003e","video":"607068191464304089.mp4"}
+{"uid":"10327580915135114016","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop pen into stand 3- Drop pen into stand 4- upright the pen stand 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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","video":"413316233124116820.mp4"}
+{"uid":"5481016513830897083","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in 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 in pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in pen holder 2- put the packet in the jar 3- Drop pen into stand 4- Drop pen into stand 5- upright the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the black pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in 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 black pen in 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":"13821133053429983341.mp4"}
+{"uid":"12851461593169088953","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put black pen in pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in pen holder 2- put the packet in the jar 3- Drop pen into stand 4- Drop pen into stand 5- upright the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in 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 black pen in 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 snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put black pen in pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in pen holder\n\u003c/PRED\u003e","video":"15077811704709016500.mp4"}
+{"uid":"2416943487070759021","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nupright the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: upright the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: upright the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- upright the pen stand 2- Drop packet into jar 3- Drop packet into jar 4- Drop pen into stand 5- put the packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8327202990083204486.mp4"}
+{"uid":"7774700236887533795","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in pen holdrs\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in pen holdrs\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in pen holdrs Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in pen holdrs 2- Drop pen into stand 3- upright the pen stand 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: put blue pen in pen holdrs\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in pen holdrs\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in pen holdrs Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13148291705643080944.mp4"}
+{"uid":"5738430876878940083","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen holder 2- put the packet in the jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"15016540236997773600.mp4"}
+{"uid":"18369411911641421792","text":"\u003ctask:success:discrete:False\u003e\nplace the 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:discriminative:discrete:True\u003e\nplace the 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: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e","video":"2257044597496187134.mp4"}
+{"uid":"9721166191777497320","text":"\u003ctask:success:discrete:True\u003e\nDrop pen into 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 pen into stand\n\u003c/PRED\u003e","video":"412641688516979741.mp4"}
+{"uid":"12486089395537852920","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop packet into jar 3- Drop pen into stand 4- put the packet in the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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":"6250379519036280713.mp4"}
+{"uid":"11070618115457918778","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in 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":"1515542286920218460.mp4"}
+{"uid":"13223323783579855941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10202319762874749253.mp4"}
+{"uid":"10852401260213765451","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in glass jar 2- Drop pen into stand 3- put the packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in glass jar\n\u003c/PRED\u003e","video":"13458252073514739865.mp4"}
+{"uid":"5085488790480382399","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":"4728961476840413560.mp4"}
+{"uid":"4939715258198985002","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- upright the pen stand 3- Drop packet into jar 4- Drop packet into jar 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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 snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e","video":"15418634044150390793.mp4"}
+{"uid":"6082330524049100359","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the packet in the jar 3- done\n\u003c/PRED\u003e","video":"12290483249301826329.mp4"}
+{"uid":"17857642627958052291","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"13226332325434903870.mp4"}
+{"uid":"11487237854103696939","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":"7441985201274872420.mp4"}
+{"uid":"12301651806719513060","text":"\u003ctask:success:discrete:True\u003e\nput black pen in 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 black pen in pen holder\n\u003c/PRED\u003e","video":"5683176508820658019.mp4"}
+{"uid":"8234785597293386862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow 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":"2803407913783893119.mp4"}
+{"uid":"14527639193639435612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16842655322893438529.mp4"}
+{"uid":"4479954210832964260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"6368368340035307495.mp4"}
+{"uid":"5280265732190602734","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":"1480031362815269340.mp4"}
+{"uid":"3397145179222688371","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen into 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":"1427530066936611843.mp4"}
+{"uid":"338425048561368071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2871491251354649237.mp4"}
+{"uid":"2474229172940359002","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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","video":"6341940773346734607.mp4"}
+{"uid":"7803128285012067470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean 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":"8519441903284100824.mp4"}
+{"uid":"11004618736139727370","text":"\u003ctask:success:discrete:True\u003e\nDrop pen into 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 pen into stand\n\u003c/PRED\u003e","video":"17728725061171525751.mp4"}
+{"uid":"15938945824296281788","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":"17582981080574252686.mp4"}
+{"uid":"15519309144355458277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen from holder onto the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10032481092944074678.mp4"}
+{"uid":"15478247845146505572","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the packet in the jar\n\u003c/PRED\u003e","video":"7455489548934520093.mp4"}
+{"uid":"2839051749921356255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18073533108961502290.mp4"}
+{"uid":"12364509455053024653","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- Drop packet into jar 3- Drop pen into stand 4- put the packet in the jar 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"713624584124472091.mp4"}
+{"uid":"5347524546106885734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5828431626794851796.mp4"}
+{"uid":"2958867619493236877","text":"\u003ctask:success:discrete:True\u003e\nDrop pen into 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 pen into stand\n\u003c/PRED\u003e","video":"15396548140690235156.mp4"}
+{"uid":"381482661623814636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10205462011668092722.mp4"}
+{"uid":"4719782691242862480","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in 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 in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in 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 black pen in pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in pen holder 2- upright the pen stand 3- Drop packet into jar 4- Drop packet into jar 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in pen holder\n\u003c/PRED\u003e","video":"4556462111027904354.mp4"}
+{"uid":"1421911922955189904","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":"2687981657783038287.mp4"}
+{"uid":"18376482839143629326","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand 10- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11330562124824739614.mp4"}
+{"uid":"14432931102869482220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass 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":"10775104750542681871.mp4"}
+{"uid":"1218416250806774033","text":"\u003ctask:success:discrete:False\u003e\nput the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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 packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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":"4299208422197253759.mp4"}
+{"uid":"11524430822775375798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9925511456143189126.mp4"}
+{"uid":"2870916061865371610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"4779958040965293307.mp4"}
+{"uid":"5551859792913299455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop 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":"13683308242497440623.mp4"}
+{"uid":"5660005436591311584","text":"\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: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: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: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- Drop pen into stand 3- put the packet in the jar 4- done\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:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e","video":"14823365290105946805.mp4"}
+{"uid":"4555895650312570911","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":"7063540808111230727.mp4"}
+{"uid":"10838209475874381687","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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: Drop packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: Drop packet into jar\n\u003c/PRED\u003e","video":"12062171347582483794.mp4"}
+{"uid":"10949421026841265551","text":"\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: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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- Drop packet into jar 3- Drop pen into stand 4- put the packet in the jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"14434637986657211674.mp4"}
+{"uid":"11254192038655843544","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- upright the pen stand 3- Drop packet into jar 4- Drop packet into jar 5- Drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"57081689010776243.mp4"}
+{"uid":"10930673347832086352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white sachet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8259225978525558539.mp4"}
+{"uid":"82538495807741766","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- Drop pen into stand 3- Drop pen into stand 4- upright the pen stand 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7112613405174967900.mp4"}
+{"uid":"7697406916851892158","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- Drop pen into stand 3- upright the pen stand 4- Drop packet into jar 5- Drop packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e","video":"1980040229692640087.mp4"}
+{"uid":"2642899141795886180","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- put the packet in the jar 3- Drop pen into stand 4- Drop pen into stand 5- upright the pen 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 pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"10160498480868978666.mp4"}
+{"uid":"14881563233726942855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13100780303379879142.mp4"}
+{"uid":"17805403015038153897","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in glass jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- Drop packet into jar 2- Drop pen into stand 3- put the packet in the jar 4- Drop pen into stand 5- Drop pen into stand 6- upright the pen stand 7- Drop packet into jar 8- Drop packet into jar 9- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in glass jar\n\u003c/PRED\u003e","video":"971769546602656175.mp4"}
+{"uid":"12573796043522859020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the paper cup in the oven Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16014476074349921234.mp4"}
+{"uid":"6711518396422167750","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candy in the cup 3- place the candy in the cup 4- place the cup in front side 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"15661813685649396513.mp4"}
+{"uid":"16374168803702225435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3212296894046644711.mp4"}
+{"uid":"15524744737319761816","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the  sugar packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the  sugar packet 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":"10206836674413714275.mp4"}
+{"uid":"3143209348620286439","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":"10300950801841669701.mp4"}
+{"uid":"17151203691994242194","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sugar  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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sugar  packet 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 sugar  packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up the sugar  packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sugar  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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the sugar  packet from the table\n\u003c/PRED\u003e","video":"13240503966236198009.mp4"}
+{"uid":"3481001772586766057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the steal glass 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":"6145679016090901750.mp4"}
+{"uid":"13386311510909842007","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":"13646469629290041889.mp4"}
+{"uid":"9050699626146272160","text":"\u003ctask:success:discrete:True\u003e\nPlace the cards in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e","video":"2195552217619924194.mp4"}
+{"uid":"1752180628090245351","text":"\u003ctask:success:discrete:True\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e","video":"11068748018288755873.mp4"}
+{"uid":"2989998226680193476","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the stand 2- pick up sugar packets from the table 3- pick up sugar packets from the table 4- pick up packets from the table 5- pick up packets from the tabled\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11979457861024960097.mp4"}
+{"uid":"17413494793521453523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3074245479385208749.mp4"}
+{"uid":"8805320492869898899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the white 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":"1850537253112587165.mp4"}
+{"uid":"3439851359673274674","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":"1475919522875272685.mp4"}
+{"uid":"14617088619626868206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy 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: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candies in the cup 3- place the candy in the cup 4- place the candies in the cup 5- place the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"624515810959065047.mp4"}
+{"uid":"5974204471717956097","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":"14096609036449472583.mp4"}
+{"uid":"8171864331808953052","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candies in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"11673503651040509142.mp4"}
+{"uid":"1723655388935532160","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candies in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"10894202036389476998.mp4"}
+{"uid":"7220481177297625613","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sugar packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sugar packets from the table 2- place sugar packets in the tray 3- pick up sugar packets from the table 4- pick up sugar packets from the table 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e","video":"1893645282271540177.mp4"}
+{"uid":"7560028083440110520","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cards 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cards in the stand 2- pick up packets from the table 3- done\n\u003c/PRED\u003e","video":"10456647114075203714.mp4"}
+{"uid":"10498678712516366776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue black 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":"6078694865159885674.mp4"}
+{"uid":"12283483938720732321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15910172849584714772.mp4"}
+{"uid":"17821963697537971611","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet on the table 2- pick up the sugar packets  from the table 3- pick up the  sugar packet from the table 4- pick up sugar packets from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar 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 sugar packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar 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 sugar 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":"7122346706740898311.mp4"}
+{"uid":"4222349529559072780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1480963028352736607.mp4"}
+{"uid":"11961771169359886294","text":"\u003ctask:success:discrete:True\u003e\nplace tissue 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table 13- place tissue in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table 13- place tissue in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy 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 tissue in the tray\n\u003c/PRED\u003e","video":"8018611930500135550.mp4"}
+{"uid":"13191504341523560609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"328860221257488116.mp4"}
+{"uid":"13472656343418128065","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sugar packets from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up sugar packets from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sugar packets from the table 2- pick up sugar packets from the table 3- pick up packets from the table 4- pick up packets from the tabled 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e","video":"5765548806808720931.mp4"}
+{"uid":"17828183809639970439","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sugar packets 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":"16457044390968886680.mp4"}
+{"uid":"17158561399769160169","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the stand 2- pick up sugar packets from the table 3- pick up sugar packets from the table 4- place sugar packets in the tray 5- pick up sugar packets from the table\n\u003c/PRED\u003e","video":"13644048145120090041.mp4"}
+{"uid":"6633827734983458898","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":"2049098894648879150.mp4"}
+{"uid":"947740685992550150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packets in the tray 2- pick up sugar packets from the table 3- place sugar packets in the tray 4- pick up sugar packets from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13093439280977809229.mp4"}
+{"uid":"13067679485494397935","text":"\u003ctask:success:discrete:False\u003e\npick up sugar packets from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sugar packets from the table 2- pick up sugar packets from the table 3- place sugar packets in the tray 4- pick up sugar packets from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sugar packets 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":"17062605536456338732.mp4"}
+{"uid":"7292903076907924193","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candy in the cup 3- place the candies in the cup 4- place the candy in the cup 5- place the candies in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"16713630756410241758.mp4"}
+{"uid":"1620433276832077167","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packets from the table 2- pick up packets from the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled Q: immediate next step? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e","video":"17089410047455059857.mp4"}
+{"uid":"2463905474894104114","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":"14222454022083936532.mp4"}
+{"uid":"377273148502034123","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy 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: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candy in the cup 3- place the candies in the cup 4- place the candy in the cup 5- place the candies in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"15715809143968694942.mp4"}
+{"uid":"15784258316671668277","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place tissues in the tray 2- pick up packets from the tabled 3- pick up packets from the table 4- pick up packets from the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissues 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 tissues 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":"14245220808337109837.mp4"}
+{"uid":"12839952415137818149","text":"\u003ctask:success:discrete:True\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e","video":"4558790071110072997.mp4"}
+{"uid":"6697797592893272998","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the stand 2- pick up sugar packets from the table 3- pick up packets from the table 4- pick up packets from the tabled 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14881094924772878600.mp4"}
+{"uid":"6224774847955204550","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packets in the tray 2- pick up sugar packets from the table 3- pick up packets from the table 4- pick up packets from the tabled 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7230983826800077524.mp4"}
+{"uid":"6522897436953796433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the blue 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":"16022632779255795824.mp4"}
+{"uid":"7647994822817534692","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the stand 2- pick up sugar packets from the table 3- place sugar packets in the tray 4- pick up sugar packets from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e","video":"9634390724322932158.mp4"}
+{"uid":"8056229318010230477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knives in plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6506582699552373988.mp4"}
+{"uid":"2569861404309846915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4821860112917929427.mp4"}
+{"uid":"6330646008088155839","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cards in the stand 2- pick up packets from the table 3- pick up packets from the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cards in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cards 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e","video":"17313929323004001841.mp4"}
+{"uid":"16634855038112824447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tilted can upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1321829970122461541.mp4"}
+{"uid":"874456479158107765","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":"2105616499879731323.mp4"}
+{"uid":"9991448021576119801","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packets in the tray 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e","video":"18227317581989083740.mp4"}
+{"uid":"16858932016799408664","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":"18152894097488510695.mp4"}
+{"uid":"813894108422246014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16364812432395955917.mp4"}
+{"uid":"1436639721934838891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cheese balls snacks packet from the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3572554654643912816.mp4"}
+{"uid":"4850906045777847952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow candy in left 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":"6917569034238712286.mp4"}
+{"uid":"3150555033621835271","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candies in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candies in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candies in the cup 2- place the candy in the cup 3- place the candies in the cup 4- place the candy in the cup 5- place the candy in the cup\n\u003c/PRED\u003e","video":"13043777456891594378.mp4"}
+{"uid":"12722867408576264373","text":"\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the stand 2- place sugar packets in the tray 3- pick up sugar packets from the table 4- pick up sugar packets from the table 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e","video":"7018821574345931431.mp4"}
+{"uid":"8471275934022212701","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packets from the tabled\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up packets from the tabled Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the tabled\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packets from the tabled 2- pick up packets from the table 3- pick up packets from the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packets from the tabled\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up packets from the tabled Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the tabled\n\u003c/PRED\u003e","video":"7182901044964003581.mp4"}
+{"uid":"5246194968311265550","text":"\u003ctask:success:discrete:False\u003e\nplace the candy 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: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candy in the cup 3- place the candy in the cup 4- place the candies in the cup 5- place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e","video":"2445274024160362380.mp4"}
+{"uid":"10611592392661405035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3690895245337578475.mp4"}
+{"uid":"333622174756383203","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packets from the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e","video":"533061113707872259.mp4"}
+{"uid":"11704773567931081055","text":"\u003ctask:success:discrete:True\u003e\nplace tissues in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up packets 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":"13743493728653804232.mp4"}
+{"uid":"6306431358981176986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the top left drawer 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":"15100569743843014823.mp4"}
+{"uid":"7126073619864347473","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cards in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cards in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e","video":"18031965593153174814.mp4"}
+{"uid":"5791526963260417239","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candies in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candies 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: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candies in the cup 2- place the candy in the cup 3- place the candies in the cup 4- place the candy in the cup 5- place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e","video":"12744223803509677828.mp4"}
+{"uid":"12382677892816816302","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissues 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place tissues in the tray 2- pick up packets from the table 3- pick up packets from the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e","video":"9768063554408040028.mp4"}
+{"uid":"6041675136801959252","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candies in the cup 2- place the candy in the cup 3- place the candy in the cup 4- place the candies in the cup 5- place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candies 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: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candies in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5966901304021591341.mp4"}
+{"uid":"5460146813102956468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the potted plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9579905452039091034.mp4"}
+{"uid":"11971090922404946683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3861403884857536929.mp4"}
+{"uid":"2570686122441770858","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up the  sugar packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the  sugar 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:success:discrete:False\u003e\npick up the  sugar 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table Q: immediate next step? \u003cPRED\u003eA: pick up the  sugar 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  sugar packet 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  sugar packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the  sugar packet from the table 2- pick up sugar packets from the table 3- pick up sugar packets from the table 4- place sugar packets in the tray 5- pick up sugar packets from the table\n\u003c/PRED\u003e","video":"18278592467115986923.mp4"}
+{"uid":"6630415321662653595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange chocolate into the middle 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":"6604428947086516182.mp4"}
+{"uid":"15330886167713209360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cards 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":"17646359081470145347.mp4"}
+{"uid":"14236167413542393459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10230370579830280265.mp4"}
+{"uid":"17326902811304184419","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table Q: immediate next step? \u003cPRED\u003eA: pick up the  sugar packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the  sugar packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the  sugar packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the  sugar packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the  sugar packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the  sugar packet 2- pick up the sugar packets  from the table 3- pick up the  sugar packet from the table 4- pick up sugar packets from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up the  sugar packet\n\u003c/PRED\u003e","video":"12857997365636454216.mp4"}
+{"uid":"8529406995079643668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red bull can in the organizer tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17631151505618990799.mp4"}
+{"uid":"10539544894208625058","text":"\u003ctask:success:discrete:True\u003e\npick up the sugar packets  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 sugar packets  from the table\n\u003c/PRED\u003e","video":"9178219116445332866.mp4"}
+{"uid":"16872276964511053914","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packets in the tray 2- pick up packets from the table 3- pick up packets from the tabled 4- pick up packets from the table 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e","video":"9600484426038544977.mp4"}
+{"uid":"9107723759627536997","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packets in the tray 2- pick up the  sugar packet from the table 3- pick up sugar packets from the table 4- pick up sugar packets from the table 5- place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e","video":"9923390096069882179.mp4"}
+{"uid":"213468655892230999","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the stand 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets 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\nPlace the sugar packets in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e","video":"7405378374524429066.mp4"}
+{"uid":"3458496788338228037","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the stand 2- pick up the  sugar packet from the table 3- pick up sugar packets from the table 4- pick up sugar packets from the table 5- place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e","video":"8434970972466141056.mp4"}
+{"uid":"14635819734718206174","text":"\u003ctask:success:discrete:True\u003e\npick up packets from the tabled Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 packets from the tabled\n\u003c/PRED\u003e","video":"6984161596318304251.mp4"}
+{"uid":"13900411484371702026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scissors 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":"12382268302374288961.mp4"}
+{"uid":"8212372407373324910","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":"4605851106921425051.mp4"}
+{"uid":"12822598550428583464","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table 13- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up packets 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table 13- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8016718039855641481.mp4"}
+{"uid":"16681914108984737731","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cards in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cards in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cards in the stand\n\u003c/PRED\u003e","video":"6584575254927325261.mp4"}
+{"uid":"12506306725683566677","text":"\u003ctask:success:discrete:True\u003e\npick up sugar packets 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 sugar packets from the table\n\u003c/PRED\u003e","video":"4081366074637216435.mp4"}
+{"uid":"18250027686354417523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the red marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10238053475437524608.mp4"}
+{"uid":"9179147845685514197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candies in the cup 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the cup in front side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candies in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candies in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candies in the cup\n\u003c/PRED\u003e","video":"5678848122983720026.mp4"}
+{"uid":"11369817610679307421","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup 13- place the candy in the cup 14- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup 13- place the candy in the cup 14- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15634884231744795996.mp4"}
+{"uid":"14908166446421216176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the yellow chocolate 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":"16168217740329915635.mp4"}
+{"uid":"6468037204324101307","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":"4949760752500805715.mp4"}
+{"uid":"1549471858867666440","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the stand 2- pick up packets from the tabled 3- pick up packets from the table 4- pick up packets from the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3055537960250561704.mp4"}
+{"uid":"6962052187666439530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue cup in 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":"7519516183200750578.mp4"}
+{"uid":"12438597375996852894","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sugar packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sugar packets from the table 2- pick up packets from the table 3- pick up packets from the tabled 4- pick up packets from the table 5- pick up packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e","video":"12655695081247025020.mp4"}
+{"uid":"3728002479068159777","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packets in the tray 2- pick up sugar packets from the table 3- pick up sugar packets from the table 4- pick up packets from the table 5- pick up packets from the tabled\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18063547929229882844.mp4"}
+{"uid":"1298770179536961535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up sugar packets 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":"9624752053499405439.mp4"}
+{"uid":"12031516778134548215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3398538667221706997.mp4"}
+{"uid":"11111947036487553279","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sugar packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sugar packet 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":"644642766928918796.mp4"}
+{"uid":"10509677768387899344","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissue 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table Q: immediate next step? \u003cPRED\u003eA: place tissue in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue in the tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tissue 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place tissue in the tray\n\u003c/PRED\u003e","video":"3341170853998390769.mp4"}
+{"uid":"12498139401980213622","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":"4102429669329373979.mp4"}
+{"uid":"2889593870061439092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"827763061721963166.mp4"}
+{"uid":"12371006138804832297","text":"\u003ctask:success:discrete:True\u003e\nPlace the sugar packets in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e","video":"5256266389821155868.mp4"}
+{"uid":"8589124403104638308","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table 13- Place the cards in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cards 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled 12- pick up packets from the table 13- Place the cards 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: Place the cards in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10146562910925736397.mp4"}
+{"uid":"9245365906286601197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"16719652191689548300.mp4"}
+{"uid":"5741200400291599262","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup 13- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candy in the cup 3- place the cup in front side 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup 13- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11704866045616684274.mp4"}
+{"uid":"11109216713176017123","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in front 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:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the cup in front side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in front side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup 13- place the candy in the cup 14- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the cup in front side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in front side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in front side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup 9- place the candy in the cup 10- place the candies in the cup 11- place the candy in the cup 12- place the candies in the cup 13- place the candy in the cup 14- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in front side 2- done\n\u003c/PRED\u003e","video":"14413937959262190373.mp4"}
+{"uid":"2950617351302405597","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup 6- place the candy in the cup 7- place the candies in the cup 8- place the candy in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the cup 2- place the candies in the cup 3- place the candy in the cup 4- place the candies in the cup 5- place the candy in the cup\n\u003c/PRED\u003e","video":"5580448976372063998.mp4"}
+{"uid":"3474077370288760549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14232106176666580088.mp4"}
+{"uid":"2116741470470203048","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up packets 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up packets from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packets from the table 2- pick up packets from the tabled 3- pick up packets from the table 4- pick up packets from the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packets from the table\n\u003c/PRED\u003e","video":"8251691499222948638.mp4"}
+{"uid":"5773519448721153783","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":"4122632257728573378.mp4"}
+{"uid":"8086036510214482293","text":"\u003ctask:success:discrete:True\u003e\npick up sugar packets 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 sugar packets from the table\n\u003c/PRED\u003e","video":"14305044334076137393.mp4"}
+{"uid":"864515055576642926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13429490942609488061.mp4"}
+{"uid":"15953512412653126317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet 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":"14315664397027772794.mp4"}
+{"uid":"11110593639461690992","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packet on the table 2- pick up the sugar packets  from the table 3- pick up the  sugar packet from the table 4- pick up sugar packets from the table 5- pick up sugar packets from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace sugar 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 sugar 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: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table Q: immediate next step? \u003cPRED\u003eA: place sugar packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place sugar packet on the table\n\u003c/PRED\u003e","video":"16715624180194138426.mp4"}
+{"uid":"10516327375052057957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16550208535011528622.mp4"}
+{"uid":"14242819588692772757","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":"17538450615831647209.mp4"}
+{"uid":"15762083074393109648","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sugar packets in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sugar packets 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":"9407072149894891690.mp4"}
+{"uid":"1316174246501421696","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled Q: immediate next step? \u003cPRED\u003eA: place tissues in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace tissues 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 tissues in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table 4- pick up the  sugar packet from the table 5- pick up sugar packets from the table 6- pick up sugar packets from the table 7- place sugar packets in the tray 8- pick up sugar packets from the table 9- pick up sugar packets from the table 10- pick up packets from the table 11- pick up packets from the tabled Q: next 5 steps? \u003cPRED\u003eA: 1- place tissues in the tray 2- pick up packets from the table 3- done\n\u003c/PRED\u003e","video":"1716623978711204023.mp4"}
+{"uid":"3433412203301520308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the duster to the whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15088526595896826310.mp4"}
+{"uid":"292872614239480124","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":"15539921901008738893.mp4"}
+{"uid":"4345076790690988667","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":"12547027904454771533.mp4"}
+{"uid":"4937262058748238176","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":"9915987890769539051.mp4"}
+{"uid":"3961496732333650308","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sugar  packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the sugar  packet 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":"8064465294937097327.mp4"}
+{"uid":"17569118593857064748","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":"12210288708517238680.mp4"}
+{"uid":"10299519692779285752","text":"\u003ctask:success:discrete:False\u003e\nplace sugar 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\nplace sugar 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 sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table Q: immediate next step? \u003cPRED\u003eA: place sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: place sugar packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table 3- pick up the sugar packets  from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place sugar packet in the tray 2- pick up sugar packets from the table 3- pick up sugar packets from the table 4- place sugar packets in the tray 5- pick up sugar packets from the table\n\u003c/PRED\u003e","video":"15824272869037910527.mp4"}
+{"uid":"10103874462271468595","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk? Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upright 2- place the candy in the cup 3- place the candy in the cup 4- place the candy in the cup 5- place the candies in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please pick up the spilled coffee bean candy on my desk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e","video":"4498776425541807724.mp4"}
+{"uid":"10853154136932063122","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sugar packets  from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sugar packets  from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table Q: immediate next step? \u003cPRED\u003eA: pick up the sugar packets  from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table Q: immediate next step? \u003cPRED\u003eA: pick up the sugar packets  from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sugar packets  from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the Sugar in the Raw and the coffee cup insulators into the caddy on the table. last 20 steps: 1- pick up the sugar  packet from the table 2- place sugar packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sugar packets  from the table 2- pick up the  sugar packet from the table 3- pick up sugar packets from the table 4- pick up sugar packets from the table 5- place sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sugar packets  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":"13759452264375843435.mp4"}
+{"uid":"13298135953350274985","text":"\u003ctask:success:discrete:True\u003e\nTake out the popcorn bag from 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: Take out the popcorn bag from the box\n\u003c/PRED\u003e","video":"1454377116571546404.mp4"}
+{"uid":"2788399346303961229","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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 on the table from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- Put the popcorn packet on the table 3- Put the blue packet on the table 4- Put the popcorn packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table from 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 on the table from the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e","video":"13818275927764176458.mp4"}
+{"uid":"6616368725521624409","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the popcorn bag from 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: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the popcorn bag from the box 2- Put the blue 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: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the popcorn bag from 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":"17444095870702042229.mp4"}
+{"uid":"9851633197220153719","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":"12205130754559143338.mp4"}
+{"uid":"8740553766440757423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14142817543644384759.mp4"}
+{"uid":"3498718656443894778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the glass upside down on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: place the glass upside down on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass upside down on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass upside down 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: place the glass upside down on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass upside down 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":"14908410803850136929.mp4"}
+{"uid":"3228203821088297814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the box 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":"17555342966308923648.mp4"}
+{"uid":"17983132792476457332","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- Put the blue packet on the table 3- Put the popcorn packet on the table 4- Put the blue packet on the table 5- Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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 packet on the table from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e","video":"5916297665162148010.mp4"}
+{"uid":"12975324247073958491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4623026846708429584.mp4"}
+{"uid":"7799005075128274648","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":"17133368685638137985.mp4"}
+{"uid":"14671423619443552481","text":"\u003ctask:success:discrete:False\u003e\nstack the glass on the existing glass stack 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: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glass stack on table 2- stack the glass on the existing glass stack on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- pick the glass from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\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\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glass stack 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: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e","video":"2245909482253962481.mp4"}
+{"uid":"4777557587187835681","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":"7021929260146210893.mp4"}
+{"uid":"13683121984158261713","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- Empty the glass in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- Empty the glass in the sink Q: immediate next step? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e","video":"9680003738601327282.mp4"}
+{"uid":"1064557474146100517","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove stack of glass slightly upward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: move stack of glass slightly upward on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove stack of glass slightly upward on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table 6- stack the glass on the existing glass stack on table 7- pick the glass from the floor Q: immediate next step? \u003cPRED\u003eA: move stack of glass slightly upward on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move stack of glass slightly upward on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table 6- stack the glass on the existing glass stack on table 7- pick the glass from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move stack of glass slightly upward on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move stack of glass slightly upward on the table\n\u003c/PRED\u003e","video":"10158936334016578653.mp4"}
+{"uid":"1712348287870290744","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- Put the blue packet on the table 3- Put the popcorn packet on the table 4- Put the blue packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\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 from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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":"8065760335684003291.mp4"}
+{"uid":"8789607057110569524","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":"2635950629998006754.mp4"}
+{"uid":"13903341694409595921","text":"\u003ctask:success:discrete:True\u003e\nPut the glass in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- Empty the glass in the sink 2- Put the glass in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: 1- Empty the glass in the sink 2- Put the glass in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14276369211732657831.mp4"}
+{"uid":"2910403083395640701","text":"\u003ctask:success:discrete:True\u003e\nEmpty the glass in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Empty the glass in the sink\n\u003c/PRED\u003e","video":"11393441842614687147.mp4"}
+{"uid":"12892785223432007345","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":"14655974487046259691.mp4"}
+{"uid":"17980839244981525052","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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 packet on the table from the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e","video":"17864544742559886723.mp4"}
+{"uid":"3405125054620395472","text":"\u003ctask:success:discrete:True\u003e\nTake out the Blue chip bag from 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: Take out the Blue chip bag from the box\n\u003c/PRED\u003e","video":"15877292094185421694.mp4"}
+{"uid":"1750828864640368575","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3101983880416446283.mp4"}
+{"uid":"7857176885163631606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange 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":"16965400658224190867.mp4"}
+{"uid":"14879762976625475599","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue 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 blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue 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 blue 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":"9865127958467790197.mp4"}
+{"uid":"17369782286092984039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table 8- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table 8- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6874701109880422922.mp4"}
+{"uid":"17862881997063016587","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glass stack 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: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glass stack on table 2- pick the glass from the floor 3- stack the glass on the existing glass stack on table 4- move stack of glass slightly upward on the table 5- done\n\u003c/PRED\u003e","video":"5076600024408463746.mp4"}
+{"uid":"11925579073931771175","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the Blue chip bag from 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":"13146491654581466831.mp4"}
+{"uid":"10359073967844108620","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the glass from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the glass from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: pick the glass from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the glass from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the glass 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: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table 6- stack the glass on the existing glass stack on table Q: immediate next step? \u003cPRED\u003eA: pick the glass from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table 6- stack the glass on the existing glass stack on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass from the floor 2- move stack of glass slightly upward on the table 3- done\n\u003c/PRED\u003e","video":"4738253630868863893.mp4"}
+{"uid":"2580811651960833927","text":"\u003ctask:success:discrete:True\u003e\nPut the popcorn 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 popcorn packet on the table\n\u003c/PRED\u003e","video":"4834953020418516557.mp4"}
+{"uid":"11382557156598949009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7611330516716505380.mp4"}
+{"uid":"11078158035790616060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8798703473699975339.mp4"}
+{"uid":"16270676962346481649","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":"5828989741059047508.mp4"}
+{"uid":"4237636674320638914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18034243914599209750.mp4"}
+{"uid":"8224516352794885344","text":"\u003ctask:success:discrete:False\u003e\nEmpty the glass in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Empty the glass in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEmpty the glass in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Empty the glass in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Empty the glass in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Empty the glass in the sink 2- Put the glass in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour out the water from the cup into the sink and then throw away the cup? Q: immediate next step? \u003cPRED\u003eA: Empty the glass in the sink\n\u003c/PRED\u003e","video":"11151191171640440498.mp4"}
+{"uid":"6264473895572848236","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table 7- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Blue chip bag from the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Blue chip bag from 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: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the Blue chip bag from 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":"9050751254457175207.mp4"}
+{"uid":"3661308968451078439","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table 6- stack the glass on the existing glass stack on table Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass on the existing glass stack 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: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glass stack 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: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table 6- stack the glass on the existing glass stack on table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glass stack on table 2- done\n\u003c/PRED\u003e","video":"6899382181784792697.mp4"}
+{"uid":"16142885456329927063","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":"15884036770090234384.mp4"}
+{"uid":"4279442453501406317","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the popcorn bag from 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: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the popcorn bag from the box 2- Put the blue packet on the table 3- Put the popcorn packet on the table 4- Put the blue packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the popcorn bag from 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: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e","video":"6994795879712599697.mp4"}
+{"uid":"6836041122139222246","text":"\u003ctask:success:discrete:False\u003e\nTake out the Blue chip bag from 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Blue chip bag from the box 2- Put the popcorn packet on the table 3- Put the blue packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Blue chip bag from 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: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e","video":"10000293677565696629.mp4"}
+{"uid":"11414902911226758637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow marker 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":"11564569575546239486.mp4"}
+{"uid":"7205877052121926262","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Blue chip bag from the box 2- Put the popcorn packet on the table 3- Put the blue packet on the table 4- Put the popcorn packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Blue chip bag from 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: Take out the Blue chip bag from the box\n\u003c/PRED\u003e","video":"7980158054589733287.mp4"}
+{"uid":"17140829637187539487","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":"17056371542181025034.mp4"}
+{"uid":"3173503505850537441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12552840180982516083.mp4"}
+{"uid":"5446304017658380719","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\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 from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- Put the popcorn packet on the table 3- Put the blue packet 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 packet on the table from the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e","video":"17367403175319682428.mp4"}
+{"uid":"14155437905949979430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11962741029895296685.mp4"}
+{"uid":"9545632593381703729","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass on the existing glass stack 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":"2248925924593224603.mp4"}
+{"uid":"14650407187405897337","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glass on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass on the existing glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glass on table 2- stack the glass on the existing glass stack on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table 5- stack the glass on the existing glass stack on table\n\u003c/PRED\u003e","video":"5154121633472171088.mp4"}
+{"uid":"12032118661010652084","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn packet on the table 2- Put the blue packet on the table 3- Put the popcorn packet on the table 4- Put the blue packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the popcorn 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 table\n\u003c/PRED\u003e","video":"6840987333846539767.mp4"}
+{"uid":"17829069535429123630","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the popcorn 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 table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn packet on the table 2- Take out the Blue chip bag from the box 3- Put the blue packet on the table 4- Put the popcorn packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet on the table\n\u003c/PRED\u003e","video":"882516317258536278.mp4"}
+{"uid":"13627574003561610119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in 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":"6323806928320419382.mp4"}
+{"uid":"15281557683176528041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2740001121658995857.mp4"}
+{"uid":"15885496483517320326","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Blue chip bag from the box 2- Put the blue packet on the table 3- Put the popcorn packet on the table 4- Put the blue packet on the table 5- Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Blue chip bag from 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: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box Q: immediate next step? \u003cPRED\u003eA: Take out the Blue chip bag from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the Blue chip bag from 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":"13006387701208320627.mp4"}
+{"uid":"10499826777755259834","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":"307858128571664913.mp4"}
+{"uid":"15884567475332300081","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":"18346650373997592575.mp4"}
+{"uid":"3025429745576556445","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":"10637672772926496675.mp4"}
+{"uid":"3582988466658066247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white hint water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11410978444192238430.mp4"}
+{"uid":"14563714824586277200","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: Put the popcorn 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 table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn packet on the table 2- Put the blue packet on the table 3- done\n\u003c/PRED\u003e","video":"6634524532934315295.mp4"}
+{"uid":"15434936877658273207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop cup in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7702823607601125710.mp4"}
+{"uid":"4226837365060781997","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet on the table 2- Put the popcorn packet on the table 3- Put the blue packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue 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 blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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":"1936106745403354173.mp4"}
+{"uid":"14904874146847127574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper glasses from 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":"17401526733108141096.mp4"}
+{"uid":"5597676969383444826","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glass stack on table 2- stack the glass on the existing glass stack on table 3- pick the glass from the floor 4- stack the glass on the existing glass stack on table 5- move stack of glass slightly upward on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table 4- stack the glass on the existing glass stack on table Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glass stack 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":"5502196922573801863.mp4"}
+{"uid":"8754583984126089246","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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 the blue 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet on the table 2- Put the blue packet on the table 3- Put the popcorn packet on the table 4- Put the blue packet on the table 5- Put 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: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e","video":"7690242986348563274.mp4"}
+{"uid":"18291570588799468561","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glass stack on table 2- stack the glass on the existing glass stack on table 3- stack the glass on the existing glass stack on table 4- pick the glass from the floor 5- stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glass stack 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: The stack of mini cups fell. Can you stack them back up? Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The stack of mini cups fell. Can you stack them back up?. last 20 steps: 1- place the glass upside down on table 2- stack the glass on the existing glass on table 3- stack the glass on the existing glass stack on table Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glass stack on table\n\u003c/PRED\u003e","video":"15568838095522372761.mp4"}
+{"uid":"1293968413104483044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\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 from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- Take out the Blue chip bag from the box 3- Put the blue packet on the table 4- Put the popcorn packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e","video":"10415047794619239621.mp4"}
+{"uid":"2975168940959278770","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue 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":"2376754823868248357.mp4"}
+{"uid":"1690085709836221817","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the popcorn bag from 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: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the popcorn bag from the box 2- Take out the Blue chip bag from the box 3- Put the blue packet on the table 4- Put the popcorn packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Take out the popcorn bag from the box\n\u003c/PRED\u003e","video":"15377352848542354415.mp4"}
+{"uid":"14674681808917188925","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":"7449554705402318833.mp4"}
+{"uid":"6969455687841221935","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":"10633266951976688692.mp4"}
+{"uid":"17153284942836726016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue 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":"211156818650286948.mp4"}
+{"uid":"9446873944615986681","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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 blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet on the table 2- Put the popcorn packet on the table 3- Put the blue packet on the table 4- Put the popcorn packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e","video":"1292346421810224116.mp4"}
+{"uid":"17137259282907031645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow chip packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1503221335312999795.mp4"}
+{"uid":"14308815340418428504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow packet in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1687912350106685248.mp4"}
+{"uid":"4407278692460791877","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up all the chips from the box. last 20 steps: 1- Put the popcorn packet on the table 2- Put the packet on the table from the box 3- Take out the Blue chip bag from the box 4- Put the blue packet on the table 5- Put the popcorn packet on the table 6- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table from the box 2- Put the blue 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 from the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table from 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: pick up all the chips from the box Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table from the box\n\u003c/PRED\u003e","video":"4847541392169008684.mp4"}
+{"uid":"12348335807242275748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet 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":"7263251404781588638.mp4"}
+{"uid":"16865507831564441333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"8383221186752308745.mp4"}
+{"uid":"3159033172396441452","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":"8703255359637043562.mp4"}
+{"uid":"4016382957911735351","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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close 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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- pick the yellow candy 3- put the candy on the table 4- close the middle right drawer 5- pick the yellow candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"8073214015379015668.mp4"}
+{"uid":"5725443604318688782","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door Q: next 5 steps? \u003cPRED\u003eA: 1- open the gate 2- pick the the candy from the door 3- place the candy on left side of the door 4- close the door 5- give the candy to the user\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e","video":"13618042906384857900.mp4"}
+{"uid":"10781705213954629153","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the middle right drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 middle right 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 middle right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the middle right drawer 2- pick the yellow candy 3- place the candy on the door 4- open the door 5- pick the the candy from the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: close the middle right drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the middle right drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the middle right drawer\n\u003c/PRED\u003e","video":"1997294392035401426.mp4"}
+{"uid":"137884793551814439","text":"\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"17767983263349932350.mp4"}
+{"uid":"3806149888290223807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12554022744379469795.mp4"}
+{"uid":"6568221830870257532","text":"\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2957479890079711886.mp4"}
+{"uid":"5424876087656187013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn 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 pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12252011320786925140.mp4"}
+{"uid":"3026691520742104339","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the left door 2- close the door 3- give the candy to the user 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the left door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy on 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the left door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door Q: immediate next step? \u003cPRED\u003eA: place the candy on the left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on 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","video":"13447854659970351047.mp4"}
+{"uid":"3227072513908239089","text":"\u003ctask:success:discrete:False\u003e\nclose the Drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the Drawer 2- open the middle right drawer 3- pick the yellow candy 4- put the candy on the table 5- close the middle right 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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: immediate next step? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e","video":"13138230223252785557.mp4"}
+{"uid":"5805056231813670911","text":"\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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick the yellow candy 3- place the candy on the door 4- open the door 5- pick the the candy from the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6535132528637549440.mp4"}
+{"uid":"12142135366266258967","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on left side of the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on left side of the door 2- close the door 3- give the candy to the user 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on left side of the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy on left side of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door Q: immediate next step? \u003cPRED\u003eA: place the candy on left side of the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on left side of the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on left side of 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":"15144231506723047531.mp4"}
+{"uid":"5151801696607873943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10061772369264591971.mp4"}
+{"uid":"6989579871410686725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12684951302794020434.mp4"}
+{"uid":"12315410052933969603","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: pick the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the candy 2- place the candy on the door 3- open the door 4- pick the the candy from the door 5- place the candy on left side of the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: immediate next step? \u003cPRED\u003eA: pick the candy\n\u003c/PRED\u003e","video":"2438202290579763809.mp4"}
+{"uid":"2142687910739600016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup 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":"7169835029574095188.mp4"}
+{"uid":"4615078395916751430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks from right 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":"2221360304729838548.mp4"}
+{"uid":"1620410566374704154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a spoon paper 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":"6040796210148024835.mp4"}
+{"uid":"9961682723201783458","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":"16182595900262616357.mp4"}
+{"uid":"12337084722749971685","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy 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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the middle right drawer 3- pick the yellow candy 4- put the candy on the table 5- close the middle right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18034886326655967716.mp4"}
+{"uid":"14861680321661586151","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: immediate next step? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngive the candy to the user Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- give the candy to the user 2- done\n\u003c/PRED\u003e","video":"2510155795183296466.mp4"}
+{"uid":"11044822278146298873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bean 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":"1188331402586323268.mp4"}
+{"uid":"2713479837734548317","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":"14535105249211031457.mp4"}
+{"uid":"10173792082333388858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 4 green colour 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":"2674600403727108531.mp4"}
+{"uid":"2235506751926741115","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \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:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- give the candy to the user 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12436824485991823977.mp4"}
+{"uid":"18075964282009343251","text":"\u003ctask:success:discrete:True\u003e\nplace the bowl 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: place the bowl in the trash bin\n\u003c/PRED\u003e","video":"9908201858627385774.mp4"}
+{"uid":"9120013620296977254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a 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":"5458433528481526487.mp4"}
+{"uid":"9706389102181512947","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"1715649156978966021.mp4"}
+{"uid":"2267009143513757165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8603948463093096708.mp4"}
+{"uid":"14520352570520880691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut shoe 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":"7234814835287596830.mp4"}
+{"uid":"5399272001981287820","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":"17750398470361271648.mp4"}
+{"uid":"15214756878798580686","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash Q: immediate next step? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- open the Drawer 2- close the top right drawer 3- open the top left drawer 4- close the Drawer 5- open the middle right 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:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e","video":"11033822460800667155.mp4"}
+{"uid":"12553989916595957782","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- open the middle right drawer 3- pick the yellow candy 4- put the candy on the table 5- close the middle right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"9146383753650411240.mp4"}
+{"uid":"13049706361625765127","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the top left drawer 3- close the Drawer 4- open the middle right drawer 5- pick the yellow candy\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: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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8818005996953934301.mp4"}
+{"uid":"12384401611283103537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9708425385249102601.mp4"}
+{"uid":"476537486623132957","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"17661310995659513314.mp4"}
+{"uid":"12567236085402423778","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15179111473558542497.mp4"}
+{"uid":"4319019687514546894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8017752657235678107.mp4"}
+{"uid":"3445954184514255286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the book in a shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7891528512233252174.mp4"}
+{"uid":"3670314611537143010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow 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":"11518992443665522859.mp4"}
+{"uid":"10898647863945054503","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":"1087749809771768447.mp4"}
+{"uid":"546660272671958176","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":"16912422739856466017.mp4"}
+{"uid":"8826519373923739576","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy Q: immediate next step? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy  on the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy  on the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy  on the gate 2- open the door 3- pick the the candy from the door 4- place the candy on left side of the door 5- close the door\n\u003c/PRED\u003e","video":"984036424254050862.mp4"}
+{"uid":"14252602140943181703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown tissue papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5738094554279299815.mp4"}
+{"uid":"2606794699625959862","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":"16937089554777657020.mp4"}
+{"uid":"8140183088390272975","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":"15813166777871116608.mp4"}
+{"uid":"536681640935522128","text":"\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"18025874581749355965.mp4"}
+{"uid":"12393471535739374490","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: immediate next step? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the door 2- open the door 3- pick the the candy from the door 4- place the candy on left side of the door 5- close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on 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":"11096677013612933792.mp4"}
+{"uid":"6210600056987918770","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- open the door 3- pick the the candy from the door 4- place the candy on left side of the door 5- close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"14097723021251796504.mp4"}
+{"uid":"4838851516537803590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1071911961509926921.mp4"}
+{"uid":"4736721103266616849","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- give the candy to the user 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"9457221488844330890.mp4"}
+{"uid":"4360523232148032886","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6310468303266057705.mp4"}
+{"uid":"6531985522326478155","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- open the top right drawer 2- close the top right drawer 3- open the top left drawer 4- close the Drawer 5- open the middle right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top right drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top right drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the top right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top right drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash Q: immediate next step? \u003cPRED\u003eA: open the top right drawer\n\u003c/PRED\u003e","video":"7383795160451549370.mp4"}
+{"uid":"11683327218371373460","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":"8403110795851977028.mp4"}
+{"uid":"634021964017439234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"573288543911920901.mp4"}
+{"uid":"5626964221722289204","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door 16- give the candy to the user Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door 16- give the candy to the user Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngive the candy to the user Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14147525262448183744.mp4"}
+{"uid":"18147190414988259211","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:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- pick the the candy from the door 3- place the candy on left side of the door 4- close the door 5- give the candy to the user\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door Q: immediate next step? \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","video":"4283818021551970487.mp4"}
+{"uid":"16135704313749734125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic 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":"12203013445271148193.mp4"}
+{"uid":"3186664582784267072","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- pick the the candy from the door 3- place the candy on left side of the door 4- close the door 5- give the candy to the user\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:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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","video":"1830348821412583363.mp4"}
+{"uid":"2224694314471563479","text":"\u003ctask:success:discrete:True\u003e\nthrow the bowl in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the bowl in the trash\n\u003c/PRED\u003e","video":"2724928235951247166.mp4"}
+{"uid":"16728574337117420571","text":"\u003ctask:success:discrete:False\u003e\nclose the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the gate 2- give the candy to the user 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door Q: immediate next step? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e","video":"4250845310976924506.mp4"}
+{"uid":"9021260357082680783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7979508433861406279.mp4"}
+{"uid":"7761746100754635362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to 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":"10826443987816016122.mp4"}
+{"uid":"11081565110942044287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"14883527894219238601.mp4"}
+{"uid":"7259975106430092491","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the middle right drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 middle right drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the middle right drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the middle right drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the middle right drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer Q: immediate next step? \u003cPRED\u003eA: open the middle right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the middle right drawer 2- pick the yellow candy 3- put the candy on the table 4- close the middle right drawer 5- pick the yellow candy\n\u003c/PRED\u003e","video":"15926184736166389342.mp4"}
+{"uid":"14331841004694210812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stack in the right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6357826430116497346.mp4"}
+{"uid":"11616256649839470596","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"15870269023837392211.mp4"}
+{"uid":"15757436620161999934","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"6125717092906216646.mp4"}
+{"uid":"5625173373334081963","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- pick the the candy from the door 2- place the candy on left side of the door 3- close the door 4- give the candy to the user 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the the candy from the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the the candy from the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the the candy from the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the the candy from 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door Q: immediate next step? \u003cPRED\u003eA: pick the the candy from the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: pick the the candy from the door\n\u003c/PRED\u003e","video":"8170826224322136564.mp4"}
+{"uid":"7866941126882498330","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":"8808610132994181306.mp4"}
+{"uid":"6265239740034056231","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- close the middle right drawer 3- pick the yellow candy 4- place the candy on the door 5- open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"5839253824687603815.mp4"}
+{"uid":"17655571474517654472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up amarker from 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":"3671673525545536488.mp4"}
+{"uid":"4217152877492065783","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the table 2- close the middle right drawer 3- pick the yellow candy 4- place the candy on the door 5- open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2094586716527586727.mp4"}
+{"uid":"5825189622819894438","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: immediate next step? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- give the candy to the user 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngive the candy to the user Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngive the candy to the user Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e","video":"9951721343440239738.mp4"}
+{"uid":"5459862780506583474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the glass 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":"7733819969201903096.mp4"}
+{"uid":"3006252803934747537","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow candy 2- place the candy on the door 3- open the door 4- pick the the candy from the door 5- place the candy on left side of the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow 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:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer Q: immediate next step? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e","video":"4693915647640306692.mp4"}
+{"uid":"8079971402120094479","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy 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\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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the Drawer 2- pick the yellow candy 3- place the candy on the door 4- open the door 5- pick the the candy from the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the Drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9849051990913366309.mp4"}
+{"uid":"3143100324306872969","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk. last 20 steps: 1- open the drawer 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some bbq chips from the mk. last 20 steps: 1- open the drawer 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"15311026987469806297.mp4"}
+{"uid":"10802558591684499879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachios 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":"8201258552543147475.mp4"}
+{"uid":"8251434657466058672","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":"32787527951873211.mp4"}
+{"uid":"1021600085005165339","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer Q: immediate next step? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow candy 2- put the candy on the table 3- close the middle right drawer 4- pick the yellow candy 5- place the candy on the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3680808693894670590.mp4"}
+{"uid":"14103618606517174107","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17577480358126853111.mp4"}
+{"uid":"9742534827819405208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8972106025068541202.mp4"}
+{"uid":"8322245392001476839","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- close the top right drawer 3- open the top left drawer 4- close the Drawer 5- open the middle right drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy 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","video":"15868914802948887683.mp4"}
+{"uid":"13671016973343654124","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":"2708241147794883699.mp4"}
+{"uid":"4051727242244582789","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":"13363668154451175680.mp4"}
+{"uid":"4121884596464824873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy  on the gate 2- close the door 3- give the candy to the user 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy  on the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door Q: immediate next step? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: put the candy  on the gate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy  on the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12085103141118044854.mp4"}
+{"uid":"5363870352261893301","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"16567052917168042844.mp4"}
+{"uid":"10830102409882244158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue cloth into the white wool 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":"3516204052449527182.mp4"}
+{"uid":"15270227403525333730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the battery in the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15885136737792976666.mp4"}
+{"uid":"13568906072254545265","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14342931630129938351.mp4"}
+{"uid":"13868478383961134039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6681393638637007547.mp4"}
+{"uid":"10912820864860857463","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- close the middle right drawer 3- pick the yellow candy 4- place the candy on the door 5- open the door\n\u003c/PRED\u003e","video":"4599525305418387887.mp4"}
+{"uid":"4208267386458127388","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":"16444616519043215545.mp4"}
+{"uid":"17824559311385061400","text":"\u003ctask:success:discrete:True\u003e\nplace the candy on the left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy on the left door\n\u003c/PRED\u003e","video":"17001291807273230160.mp4"}
+{"uid":"13281005280918802894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11150366728725111487.mp4"}
+{"uid":"10048770140247200532","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl 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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl in the trash bin 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: place the bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl in the trash bin\n\u003c/PRED\u003e","video":"6141627075787999218.mp4"}
+{"uid":"17213884923165531111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper 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":"6018388567991289907.mp4"}
+{"uid":"5511517505094778450","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":"738699148504843715.mp4"}
+{"uid":"10417595143002328876","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- pick the candy from left side of the door 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the candy from left side of the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the candy from left side of the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: immediate next step? \u003cPRED\u003eA: pick the candy from left side of the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: pick the candy from left side of the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the candy from left side of 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\npick the candy from left side of 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":"5930608068903979875.mp4"}
+{"uid":"15086375795280549511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"82946833307371710.mp4"}
+{"uid":"9775092125809278742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13084504043262455267.mp4"}
+{"uid":"2077226348514386798","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door 16- give the candy to the user Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngive the candy to the user Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: give the candy to the user\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door 16- give the candy to the user Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15011652340987957446.mp4"}
+{"uid":"9528545852197221471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15414502529425063830.mp4"}
+{"uid":"120499499542995693","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: give candy to the user\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: immediate next step? \u003cPRED\u003eA: give candy to the user\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- give candy to the user 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngive candy to the user Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: give candy to the user\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: give candy to the user\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngive candy to the user Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1228405389851295104.mp4"}
+{"uid":"408862356202463223","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":"11699368499405458481.mp4"}
+{"uid":"12166744095993362119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue pen 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":"12108865321064428992.mp4"}
+{"uid":"4951765861203087281","text":"\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"12749631946095445754.mp4"}
+{"uid":"15811269468529106909","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place pipcorn packet in the tray 4- place pipcorn packet in the tray 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"10063291627140424245.mp4"}
+{"uid":"17137137235861571163","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- place pipcorn packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"13855947401229348722.mp4"}
+{"uid":"6579138312685970813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy on 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":"5818268251810845783.mp4"}
+{"uid":"11861450999423098783","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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy 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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the Drawer 2- pick the yellow candy 3- put the candy on the table 4- close the middle right drawer 5- pick the yellow candy\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: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer Q: immediate next step? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e","video":"7434334258063868925.mp4"}
+{"uid":"8527299643295299787","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy on the door 2- open the door 3- pick the the candy from the door 4- place the candy on left side of the door 5- close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy on the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: place the candy on the door\n\u003c/PRED\u003e","video":"17441293581055785471.mp4"}
+{"uid":"4995933357255366717","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the top left drawer 2- open the middle right drawer 3- pick the yellow candy 4- put the candy on the table 5- close the middle right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: immediate next step? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e","video":"12246016704959581424.mp4"}
+{"uid":"18379280137668335594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18141905148272412083.mp4"}
+{"uid":"7905529328665794035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky notepad on the computer desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13034761831432855961.mp4"}
+{"uid":"3386676386752943545","text":"\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"11616413718612792186.mp4"}
+{"uid":"1488171330044422158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the leftmost 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":"8518777213115725711.mp4"}
+{"uid":"12315503639453756832","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right 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:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the Drawer 2- close the Drawer 3- open the middle right drawer 4- pick the yellow candy 5- put the candy on the table\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":"711609063163719222.mp4"}
+{"uid":"819626418636398744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12470663871241400114.mp4"}
+{"uid":"14083014604576985374","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top right drawer 2- open the top left drawer 3- close the Drawer 4- open the middle right drawer 5- pick the yellow candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top right drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer Q: immediate next step? \u003cPRED\u003eA: close the top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top right drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the top right 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":"7646731809824153229.mp4"}
+{"uid":"12977762555688615636","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top left drawer 2- open the middle right drawer 3- pick the yellow candy 4- put the candy on the table 5- close the middle right drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer Q: immediate next step? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8174925729361963764.mp4"}
+{"uid":"8600766126369415813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray 10- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray 9- place pipcorn packet in the tray 10- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17716232541153397127.mp4"}
+{"uid":"4665327692934526830","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door 16- give candy to the user Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: give candy to the user\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer 3- close the top right drawer 4- open the top left drawer 5- close the Drawer 6- open the middle right drawer 7- pick the yellow candy 8- put the candy on the table 9- close the middle right drawer 10- pick the yellow candy 11- place the candy on the door 12- open the door 13- pick the the candy from the door 14- place the candy on left side of the door 15- close the door 16- give candy to the user Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngive candy to the user Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9028588007307721920.mp4"}
+{"uid":"2347685480429555730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the crush 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":"64591781534487457.mp4"}
+{"uid":"16704214807526368094","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":"1994335995160296636.mp4"}
+{"uid":"603809762763874049","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"8453423689621317835.mp4"}
+{"uid":"2812428428560014811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12777318515913797442.mp4"}
+{"uid":"13991197599756763228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10614723995104222331.mp4"}
+{"uid":"10773535660535702438","text":"\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:planning:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy Q: immediate next step? \u003cPRED\u003eA: close the Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the Drawer 2- open the top left drawer 3- close the Drawer 4- open the middle right drawer 5- pick the yellow candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I miss my friend Jaspiar in RC5, please take him a banana Laffy Taffy to show him im thinking of him. Throw away my trash into the compost bin on the way to getting the candy. last 20 steps: 1- throw the bowl in the trash 2- open the top right 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":"3544215383034512825.mp4"}
+{"uid":"410156448661878467","text":"\u003ctask:success:discrete:False\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- place pipcorn packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- place orange packet in the tray 2- place orange packet in the tray 3- place orange packet in the tray 4- place orange packet in the tray 5- place orange packet in the tray 6- place pipcorn packet in the tray 7- place pipcorn packet in the tray 8- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e","video":"5973516829956412417.mp4"}
+{"uid":"8838700712160006753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a blue chip bag in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11540592188907598754.mp4"}
+{"uid":"9153107047740150916","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":"9369832129072114168.mp4"}
+{"uid":"1860371635127236101","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":"60263434135774918.mp4"}
+{"uid":"9913092508173911960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16552767607687604551.mp4"}
+{"uid":"1685323036070022511","text":"\u003ctask:success:discrete:True\u003e\nput stack 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 stack in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- put stack in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- put stack in the recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7802552433530104634.mp4"}
+{"uid":"3522930744428790379","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the marker from table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the marker from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2063332252695302870.mp4"}
+{"uid":"17549654167611904482","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the marker from table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the marker from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 marker from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the marker from table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the marker from table 2- Put the marker on table 3- Take duster to white board 4- Paste the duster on whiteboard 5- Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: pick the marker from table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the marker from table\n\u003c/PRED\u003e","video":"4698119702504694596.mp4"}
+{"uid":"14009929865824846329","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin 8- put the tissue paper in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue paper 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin 8- put the tissue paper in the dust bin 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 paper in the dust bin\n\u003c/PRED\u003e","video":"16255831692835546647.mp4"}
+{"uid":"1709927689465318494","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin 8- put tissue in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin 8- put tissue in the recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1295576517207972836.mp4"}
+{"uid":"9861911898979710881","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- put the tissue paper in the dust bin 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\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 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","video":"1284168936012213773.mp4"}
+{"uid":"8796382239476653694","text":"\u003ctask:success:discrete:False\u003e\nput stack 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 stack in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass Q: immediate next step? \u003cPRED\u003eA: put stack in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput stack 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: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: put stack in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stack in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put stack in the recycle bin 2- done\n\u003c/PRED\u003e","video":"1802293027330061699.mp4"}
+{"uid":"6410176529751494227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean controller Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6821781464718541882.mp4"}
+{"uid":"3881232399296856229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"7513003190249746873.mp4"}
+{"uid":"11825720900490640857","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board 5- Paste the duster on whiteboard Q: next 5 steps? \u003cPRED\u003eA: 1- Erase the marks on the board 2- Paste the duster on whiteboard 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nErase the marks 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:affordance:discriminative:discrete:True\u003e\nErase the marks on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board 5- Paste the duster on whiteboard Q: immediate next step? \u003cPRED\u003eA: Erase the marks on the board\n\u003c/PRED\u003e","video":"13949505292311730794.mp4"}
+{"uid":"11339423082064965747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5346132678760929205.mp4"}
+{"uid":"9690170270943768393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"13320810860866882598.mp4"}
+{"uid":"6057313958062566778","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- put the tissue paper in the dust bin 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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"8113509345274974907.mp4"}
+{"uid":"11533949368701178092","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board Q: immediate next step? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board Q: next 5 steps? \u003cPRED\u003eA: 1- Paste the duster on whiteboard 2- Erase the marks on the board 3- Paste the duster on whiteboard 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPaste the duster on whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPaste the duster on whiteboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16630608293791644541.mp4"}
+{"uid":"8060878932064612170","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":"10002010807733612688.mp4"}
+{"uid":"13834112462408739341","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- Move marker to the whiteboard 2- Put the marker on table 3- Take duster to white board 4- Paste the duster on whiteboard 5- Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove marker to the whiteboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: immediate next step? \u003cPRED\u003eA: Move marker to the whiteboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Move marker to the whiteboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move marker to the whiteboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move marker to the whiteboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove marker to the whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4466261503225552174.mp4"}
+{"uid":"934002032511517838","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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: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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- Stack the glass 4- Stack the glass 5- stack the glass\n\u003c/PRED\u003e","video":"7570547219335402033.mp4"}
+{"uid":"2940380905832562383","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the glass downright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass downright 2- stack the glass 3- Stack the glass 4- Stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass downright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass downright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: place the glass downright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass downright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass downright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18377004110774951947.mp4"}
+{"uid":"18195146801998384047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the indoor plant down a bit. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15120994649191762871.mp4"}
+{"uid":"2836108131395181982","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- Stack the glass 3- stack the glass 4- Throw cups in the bin 5- put the tissue paper in the dust bin\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":"15568856838543367441.mp4"}
+{"uid":"10610316629496201566","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 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 glass 4- Throw cups in the bin 5- put the tissue paper in the dust bin\n\u003c/PRED\u003e","video":"3429082423634763835.mp4"}
+{"uid":"16141691998383389790","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker from the table 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board 5- Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: pick up the marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker 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 marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the marker 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":"2414632383191464831.mp4"}
+{"uid":"11868851958832138500","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: immediate next step? \u003cPRED\u003eA: write on the board\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: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: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:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- Put the marker on table 3- Take duster to white board 4- Paste the duster on whiteboard 5- Erase the marks on the board\n\u003c/PRED\u003e","video":"11653925900623951885.mp4"}
+{"uid":"3264189630512864788","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\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","video":"7090905770591020183.mp4"}
+{"uid":"5556654612920329935","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw with marker on white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndraw with marker on white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12538844149216994346.mp4"}
+{"uid":"12845597632778633860","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":"3816861155288029608.mp4"}
+{"uid":"4280457734323382908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2101427450925955762.mp4"}
+{"uid":"17896288173352006510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12705013439181947903.mp4"}
+{"uid":"4244741726551909980","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker on table 2- Take duster to white board 3- Paste the duster on whiteboard 4- Erase the marks on the board 5- Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker 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 the marker on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard Q: immediate next step? \u003cPRED\u003eA: Put the marker on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Put the marker on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker 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":"15329458983027129176.mp4"}
+{"uid":"9737543919904501069","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":"3034624279600000467.mp4"}
+{"uid":"16340524939846940208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass 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":"11850342151224907011.mp4"}
+{"uid":"9500120555870462099","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 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 glass 4- Throw cups in the bin 5- put the tissue paper in the dust bin\n\u003c/PRED\u003e","video":"14714597488623748158.mp4"}
+{"uid":"6860802498829266077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7611286177759803467.mp4"}
+{"uid":"2078471518016356722","text":"\u003ctask:success:discrete:True\u003e\nplace the marker 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 marker on table\n\u003c/PRED\u003e","video":"8076299644378503099.mp4"}
+{"uid":"9198623996233371254","text":"\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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- Stack the glass 4- Stack the glass 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","video":"11998740530445911201.mp4"}
+{"uid":"1874761101422645938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13439942181248129091.mp4"}
+{"uid":"5563473189894468085","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":"18111471286344401716.mp4"}
+{"uid":"15640149027591851421","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- 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- Throw cups in the bin\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: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"4573023336626148401.mp4"}
+{"uid":"16435407058383890103","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the duster from the table 2- Paste the duster on whiteboard 3- Erase the marks on the board 4- Paste the duster on whiteboard 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the duster from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the duster from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: immediate next step? \u003cPRED\u003eA: pick the duster from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the duster from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: pick the duster from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the duster 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":"7629874793066391002.mp4"}
+{"uid":"10597407383299979152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"660858049374175655.mp4"}
+{"uid":"14329297817576211072","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":"15038896323153353649.mp4"}
+{"uid":"1374199610293906151","text":"\u003ctask:success:discrete:True\u003e\nMove marker to the whiteboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 marker to the whiteboard\n\u003c/PRED\u003e","video":"7364236324912786067.mp4"}
+{"uid":"13431265418830503567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spork 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":"13575474259527952630.mp4"}
+{"uid":"9812002208361364248","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":"809816102811972524.mp4"}
+{"uid":"7694424228903471265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput scrubber 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":"6892130256530228283.mp4"}
+{"uid":"14415306269252599242","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":"1442391581143084903.mp4"}
+{"uid":"12035076153079293714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13895180843491865507.mp4"}
+{"uid":"17051969002945077734","text":"\u003ctask:success:discrete:True\u003e\nTake duster to white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take duster to white board\n\u003c/PRED\u003e","video":"17700408632081758745.mp4"}
+{"uid":"4646708840862252762","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin Q: immediate next step? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue 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:discriminative:discrete:True\u003e\nput tissue 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: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e","video":"16390374895562148166.mp4"}
+{"uid":"13630696257514168419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7983600105740164064.mp4"}
+{"uid":"11980411890716094937","text":"\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board 5- Paste the duster on whiteboard\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: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: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Pick up the marker\n\u003c/PRED\u003e","video":"8375432492031024279.mp4"}
+{"uid":"15710989208126650083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16655523509415052161.mp4"}
+{"uid":"12993927798317018250","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- 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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the glass 3- Throw cups in the bin 4- put the tissue paper in the dust bin 5- 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"15472540031275010637.mp4"}
+{"uid":"7672617292418580729","text":"\u003ctask:success:discrete:True\u003e\nmove the duster near the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the duster near the white board\n\u003c/PRED\u003e","video":"8407587994782331443.mp4"}
+{"uid":"16549417780991437871","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: place the marker on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker 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 the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard Q: immediate next step? \u003cPRED\u003eA: place the marker on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker 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 the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on table 2- Take duster to white board 3- Paste the duster on whiteboard 4- Erase the marks on the board 5- Paste the duster on whiteboard\n\u003c/PRED\u003e","video":"631089603210169131.mp4"}
+{"uid":"16509459028240045408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw cups in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow cups in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11110809458398128891.mp4"}
+{"uid":"8070242914097080596","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":"5430414236599044884.mp4"}
+{"uid":"15058166225809458979","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 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: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: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Throw cups in the bin 3- put the tissue paper in the dust bin 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","video":"12763556848143870660.mp4"}
+{"uid":"8177255492029354095","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw with marker on white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw with marker on white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: draw with marker on white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: immediate next step? \u003cPRED\u003eA: draw with marker on white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw with marker on white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- draw with marker on white board 2- Put the marker on table 3- Take duster to white board 4- Paste the duster on whiteboard 5- Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw with marker on white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11674344585326117149.mp4"}
+{"uid":"8705256217649122224","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":"14437326219150749477.mp4"}
+{"uid":"5482991501945977740","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: next 5 steps? \u003cPRED\u003eA: 1- move the duster near the white board 2- Paste the duster on whiteboard 3- Erase the marks on the board 4- Paste the duster on whiteboard 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the duster near the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the duster near the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the duster near the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: immediate next step? \u003cPRED\u003eA: move the duster near the white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: move the duster near the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the duster near the white board\n\u003c/PRED\u003e","video":"7516407679955344159.mp4"}
+{"uid":"3170483688263073660","text":"\u003ctask:success:discrete:True\u003e\nThrow tissue paper in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin 8- Throw tissue paper in the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw tissue paper in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin 8- Throw tissue paper in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13003785988122834638.mp4"}
+{"uid":"15946314175546525767","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glasses in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper 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:success:discrete:True\u003e\nput the glasses 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the dust bin\n\u003c/PRED\u003e","video":"7160322433240980749.mp4"}
+{"uid":"1915167382988554410","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":"14333108892624451177.mp4"}
+{"uid":"10046719427827578449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the duster to the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake the duster to the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7508701291351039246.mp4"}
+{"uid":"13236192331160709561","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":"1848467466960200688.mp4"}
+{"uid":"18129661807199181983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the marker 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":"14221872627985026895.mp4"}
+{"uid":"7700382806675333321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen holder to the front side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"178365742627005242.mp4"}
+{"uid":"11557542547004128242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black jacket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6874935238787384195.mp4"}
+{"uid":"2442017842896187606","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take duster to white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Take duster to white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: immediate next step? \u003cPRED\u003eA: Take duster to white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake duster to white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: next 5 steps? \u003cPRED\u003eA: 1- Take duster to white board 2- Paste the duster on whiteboard 3- Erase the marks on the board 4- Paste the duster on whiteboard 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake duster to white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take duster to white board\n\u003c/PRED\u003e","video":"9735241722357641922.mp4"}
+{"uid":"15410515763861851071","text":"\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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the glass 3- Stack the glass 4- Stack the glass 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: Clear out the table by throwing the cups and the wipe away 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","video":"864252954369698968.mp4"}
+{"uid":"762638222018424457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the other side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8343313484050205208.mp4"}
+{"uid":"14238541609310059172","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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: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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- 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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- Throw cups in the bin 4- put the tissue paper in the dust bin 5- done\n\u003c/PRED\u003e","video":"2363043808651845520.mp4"}
+{"uid":"16401663239660189685","text":"\u003ctask:success:discrete:True\u003e\nPut the marker on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker on table\n\u003c/PRED\u003e","video":"3452126819250689916.mp4"}
+{"uid":"13804878383491478138","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board 5- Paste the duster on whiteboard 6- Erase the marks on the board Q: immediate next step? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPaste the duster on whiteboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPaste the duster on whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table 4- Take duster to white board 5- Paste the duster on whiteboard 6- Erase the marks on the board Q: next 5 steps? \u003cPRED\u003eA: 1- Paste the duster on whiteboard 2- done\n\u003c/PRED\u003e","video":"6921943889289270422.mp4"}
+{"uid":"6962599270314081771","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the marker near to white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the marker near to white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3098374259902065584.mp4"}
+{"uid":"9209353063432371895","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw cups in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: Throw cups in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow cups in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow cups in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Throw cups in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Throw cups in the bin 2- put the tissue paper in the dust bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw cups in the bin\n\u003c/PRED\u003e","video":"10020971357471179333.mp4"}
+{"uid":"954070420207700464","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- Throw cups in the bin 4- put the tissue paper in the dust bin 5- 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: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- 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","video":"18143913794464414879.mp4"}
+{"uid":"891614313354380339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2589936780829174196.mp4"}
+{"uid":"1882001546488719563","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":"9077738971166723373.mp4"}
+{"uid":"4821988355582064868","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":"6109149977175396597.mp4"}
+{"uid":"2182576893258587254","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw tissue paper in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: Throw tissue paper in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- Throw tissue paper in the trash 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow tissue paper in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw tissue paper in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass 7- Throw cups in the bin Q: immediate next step? \u003cPRED\u003eA: Throw tissue paper in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow tissue paper in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18255337097909706720.mp4"}
+{"uid":"7986725315013518584","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- move the marker near to white board 2- Put the marker on table 3- Take duster to white board 4- Paste the duster on whiteboard 5- Erase the marks on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: move the marker near to white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the marker near to white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker Q: immediate next step? \u003cPRED\u003eA: move the marker near to white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the marker near to white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the marker near to white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the marker near to white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6140524148005027975.mp4"}
+{"uid":"14304707686473751564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow 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":"7826301707690311848.mp4"}
+{"uid":"8665683832803708249","text":"\u003ctask:success:discrete:False\u003e\nkeep the glass 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep the glass straight 2- stack the glass 3- Stack the glass 4- Stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the glass 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:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the glass straight\n\u003c/PRED\u003e","video":"8915520213618105689.mp4"}
+{"uid":"9755621326474202272","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":"17114118980688237538.mp4"}
+{"uid":"3333343138367988073","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the table 2- Take duster to white board 3- Paste the duster on whiteboard 4- Erase the marks on the board 5- Paste the duster on whiteboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard Q: immediate next step? \u003cPRED\u003eA: place the marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: place the 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 marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"8131479768472838307.mp4"}
+{"uid":"9914895107920297643","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the duster to the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the duster to the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the duster to the white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. Q: immediate next step? \u003cPRED\u003eA: take the duster to the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: next 5 steps? \u003cPRED\u003eA: 1- take the duster to the white board 2- Paste the duster on whiteboard 3- Erase the marks on the board 4- Paste the duster on whiteboard 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the uncapped marker from the phone room desk. then use the marker to make a drawing on the phone room whiteboard, and erase the drawing when it is complete. last 20 steps: 1- Pick up the marker 2- Move marker to the whiteboard 3- Put the marker on table Q: immediate next step? \u003cPRED\u003eA: take the duster to the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the duster to the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2973217890096527216.mp4"}
+{"uid":"3624156833264672662","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away Q: immediate next step? \u003cPRED\u003eA: put the glasses in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glasses in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass Q: immediate next step? \u003cPRED\u003eA: put the glasses in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glasses 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clear out the table by throwing the cups and the wipe away . last 20 steps: 1- Put glass upside down on the table 2- Stack the glass 3- stack the glass 4- Stack the glass 5- Stack the glass 6- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the glasses in the dustbin 2- put the tissue paper in the dust bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glasses in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glasses in the dustbin\n\u003c/PRED\u003e","video":"625758845297133213.mp4"}
+{"uid":"1099700383849589992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"16713763384131154968.mp4"}
+{"uid":"8886309052128592845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up numi 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":"3049644186376502852.mp4"}
+{"uid":"18244057578753867724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6337196717100957087.mp4"}
+{"uid":"6397652933069885355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"9698880359778234631.mp4"}
+{"uid":"16253718746879192361","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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":"9532446767127512469.mp4"}
+{"uid":"17207203216517356042","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":"17227116362443916229.mp4"}
+{"uid":"11177364792919120593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate 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":"11577521780377238100.mp4"}
+{"uid":"16722233726623573511","text":"\u003ctask:success:discrete:True\u003e\nStack 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: Stack the packet on the table\n\u003c/PRED\u003e","video":"3395985854677797874.mp4"}
+{"uid":"14423579160396373394","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table 9- Stack the packet on the table 10- Stack the packet on the table 11- Stack 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: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table 9- Stack the packet on the table 10- Stack the packet on the table 11- Stack 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: Stack the packet on the table\n\u003c/PRED\u003e","video":"7549450703831283198.mp4"}
+{"uid":"1657170867786235454","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":"3146994141293569488.mp4"}
+{"uid":"796427405902480645","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":"14420118537786989131.mp4"}
+{"uid":"14499004594107201764","text":"\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 cups and put away the blocks 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 cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- move the stacked glasses back side 3- move the box right side 4- place the heart shaped block in the box 5- place the star shaped block in the box\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: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 cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"7901398946201143636.mp4"}
+{"uid":"3936905201799522952","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box Q: immediate next step? \u003cPRED\u003eA: place the triangle shaped block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the triangle shaped block in the box 2- stack the glass 3- stack the glass 4- stack the glass 5- move the stacked glass right side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the triangle shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the triangle shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the triangle shaped block 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: place the triangle shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the triangle shaped block 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":"9532716674503774575.mp4"}
+{"uid":"16151626549382133883","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the hourglass shaped block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the hourglass shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the hourglass shaped block 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: Stack the cups and put away the blocks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the hourglass shaped block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the hourglass shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the hourglass shaped block 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":"13149813770464215239.mp4"}
+{"uid":"15273605261612249235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sponge 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":"6025559115353731029.mp4"}
+{"uid":"4503144221777178024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17989116691756636978.mp4"}
+{"uid":"9175035077271776757","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":"14780445971972137335.mp4"}
+{"uid":"16375037549009279321","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the stacked glasses back side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: move the stacked glasses back side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the stacked glasses back side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the stacked glasses back side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass Q: immediate next step? \u003cPRED\u003eA: move the stacked glasses back side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- move the stacked glasses back side 2- move the box right side 3- place the heart shaped block in the box 4- place the star shaped block in the box 5- place the cross shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the stacked glasses back 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","video":"17582120703876698534.mp4"}
+{"uid":"8805333026610027871","text":"\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","video":"8099019150825133501.mp4"}
+{"uid":"9002548188432405664","text":"\u003ctask:success:discrete:False\u003e\nplace the square shaped block 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: place the square shaped block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box 12- place the star shaped block in the box 13- place the cross shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the square shaped block in the box 2- place the hexagon shaped block in the box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box 12- place the star shaped block in the box 13- place the cross shaped block in the box Q: immediate next step? \u003cPRED\u003eA: place the square shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the square shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the square shaped block 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: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the square shaped block in the box\n\u003c/PRED\u003e","video":"8455413609849670305.mp4"}
+{"uid":"17209599258506510816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee 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":"6228703784030160815.mp4"}
+{"uid":"12308582087719555694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10617399498985651327.mp4"}
+{"uid":"15200510867804328138","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the rhombus shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the rhombus shaped block 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: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the rhombus shaped block in the box 2- place the triangle shaped block in the box 3- stack the glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the rhombus shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the rhombus shaped block 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: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box Q: immediate next step? \u003cPRED\u003eA: place the rhombus shaped block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the rhombus shaped block in the box\n\u003c/PRED\u003e","video":"18394790923215351267.mp4"}
+{"uid":"10954171563186082056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange on a bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10506577812175152531.mp4"}
+{"uid":"8451618055487335743","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table 9- Stack the packet on the table 10- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table 9- Stack the packet on the table 10- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e","video":"17597293708452600405.mp4"}
+{"uid":"9230993005379846349","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":"10764294246304695292.mp4"}
+{"uid":"10634852200382226751","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":"14192737935457508305.mp4"}
+{"uid":"10630090939293592287","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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":"16216157355889896141.mp4"}
+{"uid":"16337960399429653259","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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":"17791529688974178850.mp4"}
+{"uid":"11642610892824224166","text":"\u003ctask:success:discrete:True\u003e\nStack 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: Stack the packet on the table\n\u003c/PRED\u003e","video":"7913119970179250943.mp4"}
+{"uid":"11320454955166966817","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Put the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e","video":"1926945170735739773.mp4"}
+{"uid":"10473656259387845623","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack 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: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack 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","video":"2225330870259116992.mp4"}
+{"uid":"10519700958265762695","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":"7105373695358497172.mp4"}
+{"uid":"14878856785068242159","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cross shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cross shaped block 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\nplace the cross shaped block 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: place the cross shaped block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box 12- place the star shaped block in the box Q: immediate next step? \u003cPRED\u003eA: place the cross shaped block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the cross shaped block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box 12- place the star shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the cross shaped block in the box 2- place the square shaped block in the box 3- place the hexagon shaped block in the box 4- done\n\u003c/PRED\u003e","video":"10559410200571445427.mp4"}
+{"uid":"10531581303892019892","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: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 cups and put away the blocks 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- move the stacked glass right side 3- stack the glass 4- move the stacked glasses back side 5- move the box right side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"7313233680763020339.mp4"}
+{"uid":"809993698168007290","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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\nStack 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":"17720217552565555159.mp4"}
+{"uid":"11479668270809418613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck the red 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":"677884735898777869.mp4"}
+{"uid":"13395765983808955795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker into the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1185662630951823049.mp4"}
+{"uid":"3287993056360908621","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":"1323763675893426321.mp4"}
+{"uid":"2362921468402831979","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":"6720692486883372265.mp4"}
+{"uid":"12835834934534217022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"210643298956429116.mp4"}
+{"uid":"18366867832666024898","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the star shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the star shaped block 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: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the star shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the star shaped block 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: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the star shaped block in the box 2- place the cross shaped block in the box 3- place the square shaped block in the box 4- place the hexagon shaped block in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the star shaped block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box Q: immediate next step? \u003cPRED\u003eA: place the star shaped block in the box\n\u003c/PRED\u003e","video":"1772110358527220235.mp4"}
+{"uid":"15359168424881097134","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side Q: immediate next step? \u003cPRED\u003eA: move the box right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the box 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:affordance:discriminative:discrete:True\u003e\nmove the box 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side Q: next 5 steps? \u003cPRED\u003eA: 1- move the box right side 2- place the heart shaped block in the box 3- place the star shaped block in the box 4- place the cross shaped block in the box 5- place the square shaped block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: move the box right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the box right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the box right side\n\u003c/PRED\u003e","video":"12799159573431047486.mp4"}
+{"uid":"18244291166560098252","text":"\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 cups and put away the blocks 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 cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the glass 4- move the stacked glass right side 5- stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 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","video":"7984386056044533940.mp4"}
+{"uid":"932409536754628922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork on 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":"16431827056972058.mp4"}
+{"uid":"3607460539959629620","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- move the stacked glass right side 4- stack the glass 5- move the stacked glasses back side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks 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: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":"9174838058788067161.mp4"}
+{"uid":"13391351181015198677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16701167103163811056.mp4"}
+{"uid":"7458356547206851309","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":"11709631428453981718.mp4"}
+{"uid":"9561335728451689129","text":"\u003ctask:success:discrete:True\u003e\nplace the rhombus shaped block 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: place the rhombus shaped block in the box\n\u003c/PRED\u003e","video":"16143440265520253064.mp4"}
+{"uid":"351913444501846147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the two sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9215417685105578152.mp4"}
+{"uid":"2852322353283650242","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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":"13011401461731651639.mp4"}
+{"uid":"9670259328905862216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box 12- place the star shaped block in the box 13- place the cross shaped block in the box 14- place the square shaped block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the hexagon shaped block in the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side 11- place the heart shaped block in the box 12- place the star shaped block in the box 13- place the cross shaped block in the box 14- place the square shaped block in the box Q: immediate next step? \u003cPRED\u003eA: place the hexagon shaped block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the hexagon shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow marker inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the hexagon shaped block 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: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the hexagon shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the hexagon shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the hexagon shaped block 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":"754802840547693138.mp4"}
+{"uid":"11334213212251260568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the gray objects into the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11466490647982240746.mp4"}
+{"uid":"4398450039919528043","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table 9- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table 8- Stack the packet on the table 9- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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":"2232215423749003527.mp4"}
+{"uid":"17035671570200415370","text":"\u003ctask:success:discrete:True\u003e\nStack 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: Stack the packet on the table\n\u003c/PRED\u003e","video":"10254029042915633295.mp4"}
+{"uid":"1506709720744261682","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- Put the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e","video":"7329558220455031391.mp4"}
+{"uid":"10680490128973246197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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":"18430083202835398015.mp4"}
+{"uid":"9541443042339759741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize the pink sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15820549126553460718.mp4"}
+{"uid":"17345653495305854170","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the heart shaped block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side Q: immediate next step? \u003cPRED\u003eA: place the heart shaped block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass 7- move the stacked glass right side 8- stack the glass 9- move the stacked glasses back side 10- move the box right side Q: next 5 steps? \u003cPRED\u003eA: 1- place the heart shaped block in the box 2- place the star shaped block in the box 3- place the cross shaped block in the box 4- place the square shaped block in the box 5- place the hexagon shaped block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the heart shaped block 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: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place the heart shaped block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the heart shaped block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the heart shaped block 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":"7663655893699598348.mp4"}
+{"uid":"4337632910651885740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: move the stacked glass right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the stacked glass 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:affordance:discriminative:discrete:True\u003e\nmove the stacked glass 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: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass Q: immediate next step? \u003cPRED\u003eA: move the stacked glass right side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the stacked glass right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the stacked glass right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stack the cups and put away the blocks. last 20 steps: 1- place the hourglass shaped block in the box 2- place the rhombus shaped block in the box 3- place the triangle shaped block in the box 4- stack the glass 5- stack the glass 6- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- move the stacked glass right side 2- stack the glass 3- move the stacked glasses back side 4- move the box right side 5- place the heart shaped block in the box\n\u003c/PRED\u003e","video":"17329723787917397668.mp4"}
+{"uid":"11482675823875609129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue 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":"10383485413907632904.mp4"}
+{"uid":"5436634209415103495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the glass into the black 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":"2153030754158739019.mp4"}
+{"uid":"8940717946952433787","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. 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: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: remove seaweed snacks from the basket. last 20 steps: none 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table\n\u003c/PRED\u003e","video":"17827073023286205797.mp4"}
+{"uid":"3891835999056342541","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":"14427147519475258835.mp4"}
+{"uid":"69274565063386925","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":"16140620840521064278.mp4"}
+{"uid":"5589652285777690127","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e","video":"8910239314320175336.mp4"}
+{"uid":"998441189436207321","text":"\u003ctask:success:discrete:True\u003e\nStack 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: Stack the packet on the table\n\u003c/PRED\u003e","video":"162164521839840217.mp4"}
+{"uid":"7169944573511209223","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Put the packet on the table 5- Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e","video":"6712533539676638394.mp4"}
+{"uid":"13672170289918938669","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. last 20 steps: 1- Put the packet on the table 2- Stack the packet on the table 3- Stack the packet on the table 4- Stack the packet on the table 5- Stack the packet on the table 6- Stack the packet on the table 7- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove seaweed snacks from the basket. Q: immediate next step? \u003cPRED\u003eA: Stack the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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":"13086913191237229336.mp4"}
+{"uid":"13621228636320982075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy in the right side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3161267142143288417.mp4"}
+{"uid":"14812867288903901854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fifth 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":"14158389081295929616.mp4"}
+{"uid":"8102335474279101419","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":"11746991636411941939.mp4"}
+{"uid":"2818918270873381776","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":"8242925714240895776.mp4"}
+{"uid":"11986713923231954208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"272507575929219991.mp4"}
+{"uid":"15455645589320804047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"11786579328441878716.mp4"}
+{"uid":"13031437187639695312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack  the 6 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":"718855460550517210.mp4"}
+{"uid":"10431744253413448775","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the trolley 2- drop the pen on the tray 3- drop the yellow packet on the tray 4- move your arm towards the table 5- move 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\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 trolley\n\u003c/PRED\u003e","video":"6488922669391939741.mp4"}
+{"uid":"338500543531768885","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 trolley\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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the trolley\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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the trolley 2- pick up the bottom pen 3- Drop the pen in the trolley 4- drop the pen on the tray 5- drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2119213686403743417.mp4"}
+{"uid":"1438575607541406111","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on the tray 2- pick the right pen on the table 3- drop the pen on the tray 4- pick up the bottom pen 5- Drop the pen in the trolley\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 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e","video":"2738647377344594110.mp4"}
+{"uid":"1510129036119740269","text":"\u003ctask:success:discrete:True\u003e\nPick up the rightmost 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 rightmost pen from the table\n\u003c/PRED\u003e","video":"5858015728882094572.mp4"}
+{"uid":"7905097081267152486","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 top right pen on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: pick the top right pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the top right pen on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top right pen on the table 2- place the pen in the black tray 3- pick the right pen on the table 4- drop the pen on the tray 5- pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top right pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the top right pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top right pen on the table\n\u003c/PRED\u003e","video":"17562746430869969055.mp4"}
+{"uid":"5868010396942170258","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on 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 sticky notes on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on 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: place the sticky notes on 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: place the sticky notes on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the black tray 2- pick the top right pen on the table 3- place the pen in the black tray 4- pick the right pen on the table 5- drop the pen on the tray\n\u003c/PRED\u003e","video":"7596279771203822610.mp4"}
+{"uid":"12159257798030900894","text":"\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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the black tray 2- move your arm towards the table 3- move the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: place the pen in the black tray\n\u003c/PRED\u003e\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: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","video":"6560711614899583659.mp4"}
+{"uid":"15044116973234040917","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\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 most 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table Q: immediate next step? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right most pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right most 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right most pen 2- drop the pen on the tray 3- pick up the bottom pen 4- Drop the pen in the trolley 5- drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right most pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e","video":"12112624238131797819.mp4"}
+{"uid":"16793086644181709885","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":"9461531941341742336.mp4"}
+{"uid":"11837418127832796019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the top right pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the top 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","video":"5963550313882240417.mp4"}
+{"uid":"4985185705821367463","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the right pen on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right pen on the table 2- drop the pen on the tray 3- pick up the bottom pen 4- Drop the pen in the trolley 5- drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the right pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the right pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray Q: immediate next step? \u003cPRED\u003eA: pick the right pen on the table\n\u003c/PRED\u003e","video":"7388625987937128819.mp4"}
+{"uid":"11155631258935269402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bottle 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":"1929566952406269572.mp4"}
+{"uid":"17635154595452769782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14232650368033731094.mp4"}
+{"uid":"14587155247550966578","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the trolley 2- drop the yellow packet on the tray 3- move your arm towards the table 4- move the trolley forward 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the trolley\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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Put the pen in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2989217166265350205.mp4"}
+{"uid":"12462155313269252543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"7039752561677018009.mp4"}
+{"uid":"13383773231372172401","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet 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 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: place 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet in the black tray 2- move the trolley forward 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:discriminative:discrete:True\u003e\nplace 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in the black tray\n\u003c/PRED\u003e","video":"13875137706213399206.mp4"}
+{"uid":"13123944985376402596","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- drop the yellow packet on the tray 3- move your arm towards the table 4- move the trolley forward 5- done\n\u003c/PRED\u003e","video":"10142411398397346524.mp4"}
+{"uid":"12822142859527886895","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bottom 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":"1366675286414890203.mp4"}
+{"uid":"1931763835265374687","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the top right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"10103576934523267174.mp4"}
+{"uid":"16626314937306703784","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes in the trolley 2- pick the top right pen on the table 3- place the pen in the black tray 4- pick the right pen on the table 5- drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e","video":"1523368113008771787.mp4"}
+{"uid":"10387982208326565673","text":"\u003ctask:success:discrete:True\u003e\nplace the sanitizer bottle 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 sanitizer bottle in the black tray\n\u003c/PRED\u003e","video":"8293334270585055740.mp4"}
+{"uid":"15563211946409129518","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: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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen Q: immediate next step? \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: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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the black tray 2- drop the yellow packet on the tray 3- move your arm towards the table 4- move the trolley forward 5- done\n\u003c/PRED\u003e","video":"55377245854131699.mp4"}
+{"uid":"11909693362055231476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2728140926256452883.mp4"}
+{"uid":"6577813791663083867","text":"\u003ctask:success:discrete:True\u003e\ngrasp 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sanitizer bottle\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 sanitizer bottle\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the sanitizer bottle\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- grasp the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sanitizer bottle 2- place the sanitizer bottle in the black tray 3- pick the sticky notes 4- place the sticky notes in the black tray 5- pick the top right pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- grasp the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: pick the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8283572608172685312.mp4"}
+{"uid":"12138104864599656086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red marker into locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14865513599519435926.mp4"}
+{"uid":"9530610447964357308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9700486651546567384.mp4"}
+{"uid":"12003718073312795806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15097501547927213438.mp4"}
+{"uid":"14629675149800321593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"896714713300574158.mp4"}
+{"uid":"3362182853913610859","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the trolley 2- pick the right pen on the table 3- drop the pen on the tray 4- pick up the bottom pen 5- Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14903224312227610099.mp4"}
+{"uid":"4270082391575095836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12226833321988466115.mp4"}
+{"uid":"4102818490362573272","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sanitizer bottle 2- place the sanitizer bottle in the black tray 3- pick the sticky notes 4- place the sticky notes in the black tray 5- pick the top right pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sanitizer bottle\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 sanitizer bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the sanitizer bottle\n\u003c/PRED\u003e","video":"16869821577521356131.mp4"}
+{"uid":"13528690693974135275","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- move your arm towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- push the trolley forward 2- 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: push the trolley forward\n\u003c/PRED\u003e\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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- move your arm towards the table Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\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: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","video":"13754302681801415452.mp4"}
+{"uid":"8154761068961499501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"17630733140620652354.mp4"}
+{"uid":"3972669330374315480","text":"\u003ctask:success:discrete:True\u003e\npick the top right pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the top right pen on the table\n\u003c/PRED\u003e","video":"284529141683540338.mp4"}
+{"uid":"14527293947128239871","text":"\u003ctask:success:discrete:False\u003e\ndrop the yellow packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet on the tray 2- move your arm towards the table 3- move the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet on the tray\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 tray\n\u003c/PRED\u003e","video":"1932107345475457547.mp4"}
+{"uid":"6362337915271202011","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move 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: move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- move your arm towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley forward 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- move your arm towards the table Q: immediate next step? \u003cPRED\u003eA: move the trolley forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley forward\n\u003c/PRED\u003e","video":"7501863373201376112.mp4"}
+{"uid":"17602310606980502417","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the right most pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the right most 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":"4186097742868711059.mp4"}
+{"uid":"5440210390631399089","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":"3895735579007140147.mp4"}
+{"uid":"12445268400821336951","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put 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 tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on the tray 2- drop the pen on the tray 3- drop the yellow packet on the tray 4- move your arm towards the table 5- move the trolley forward\n\u003c/PRED\u003e","video":"11190494343989898457.mp4"}
+{"uid":"7237021879066839489","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: pick up the top right pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the top 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 up the top 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the top right pen 2- place the pen in the black tray 3- pick the right pen on the table 4- drop the pen on the tray 5- pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the top right pen\n\u003c/PRED\u003e","video":"8819842633861697236.mp4"}
+{"uid":"9624840840641159506","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\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 tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on the tray 2- drop the yellow packet on the tray 3- move your arm towards the table 4- move the trolley forward 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e","video":"16141501537218268236.mp4"}
+{"uid":"11732290955501654973","text":"\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: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: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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the black tray 2- pick the right pen on the table 3- drop the pen on the tray 4- pick up the bottom pen 5- Drop the pen in the trolley\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","video":"15512055124239712644.mp4"}
+{"uid":"777947781498421096","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":"16102734752631699619.mp4"}
+{"uid":"6454592484530907908","text":"\u003ctask:success:discrete:True\u003e\nPick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the sanitizer bottle\n\u003c/PRED\u003e","video":"4918411624597256080.mp4"}
+{"uid":"11109495189231031775","text":"\u003ctask:success:discrete:False\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen on the table 2- drop the yellow packet on the tray 3- move your arm towards the table 4- move the trolley forward 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e","video":"4446925807098141340.mp4"}
+{"uid":"17197660483035103313","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer bottle on the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sanitizer bottle on 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":"397878823646176981.mp4"}
+{"uid":"9831080270406436825","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes 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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the sticky notes 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 sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: place the sticky notes in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes in the black tray 2- pick the top right pen on the table 3- place the pen in the black tray 4- pick the right pen on the table 5- drop the pen on the tray\n\u003c/PRED\u003e","video":"8862830556532911584.mp4"}
+{"uid":"3015037472972705472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black pen in big 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":"6841083732843323544.mp4"}
+{"uid":"6958341871967836731","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":"2009860179644266304.mp4"}
+{"uid":"5082391651307875496","text":"\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: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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table Q: immediate next step? \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: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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the black tray 2- Drop the pen in the trolley 3- drop the pen on the tray 4- drop the yellow packet on the tray 5- move your arm towards the table\n\u003c/PRED\u003e","video":"4539241849471005431.mp4"}
+{"uid":"17430269541286474506","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the black tray\n\u003c/PRED\u003e\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","video":"764397704052383531.mp4"}
+{"uid":"7125323324785114053","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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick 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: pick the yellow packet on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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\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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet on the table 2- move your arm towards the table 3- move the trolley forward 4- done\n\u003c/PRED\u003e","video":"5756941707762725260.mp4"}
+{"uid":"8243175828857143049","text":"\u003ctask:success:discrete:True\u003e\nPick up the sticky notes 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 sticky notes from the table\n\u003c/PRED\u003e","video":"6390632568991883405.mp4"}
+{"uid":"8919718015644092563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knives 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":"4912176140640664137.mp4"}
+{"uid":"5091411188577162147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fork 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":"4311468816528126374.mp4"}
+{"uid":"6103538209533955239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmudhamv@google.com Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"243547990219544712.mp4"}
+{"uid":"6430003643720333708","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the trolley 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- Push the trolley to the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the trolley 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- Push the trolley to the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5970039205630563640.mp4"}
+{"uid":"1192413525005644661","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":"11353316319100068092.mp4"}
+{"uid":"12001878183642160779","text":"\u003ctask:success:discrete:True\u003e\nPick up the yellow packet 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the trolley\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 yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the trolley 2- move your arm towards the table 3- move the trolley forward 4- done\n\u003c/PRED\u003e","video":"4151095098173696403.mp4"}
+{"uid":"10717924553372166266","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":"16933412202426758879.mp4"}
+{"uid":"5430941791499886388","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: 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- move your arm towards the table 15- push the trolley forward 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 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray 14- move your arm towards the table 15- push the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- 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","video":"4927486330093371310.mp4"}
+{"uid":"2032401753779584411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the glass from the glass bunch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12841615778414985837.mp4"}
+{"uid":"8353118049234398520","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e","video":"994850376769610423.mp4"}
+{"uid":"4416111266650735171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3734833014644794360.mp4"}
+{"uid":"14403092603163945891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"9200113156417635906.mp4"}
+{"uid":"2689624568476141631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput turkey stick on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12073294337515626475.mp4"}
+{"uid":"11312701698087160644","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":"14993304711957320358.mp4"}
+{"uid":"1445438716483225091","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the rightmost 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":"5720338761880915419.mp4"}
+{"uid":"13808366145858000249","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the table 2- move the trolley forward 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray Q: immediate next step? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e","video":"14703543808390559555.mp4"}
+{"uid":"6716020796961346500","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":"7049767589173024978.mp4"}
+{"uid":"9776394387665021290","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":"10490811557850841448.mp4"}
+{"uid":"14681106120599844598","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":"1988236764203706239.mp4"}
+{"uid":"13094504581139960100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen on 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":"13267934248736398769.mp4"}
+{"uid":"11039890453609288932","text":"\u003ctask:success:discrete:False\u003e\npick up the bottom pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottom 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom pen 2- drop the pen on the tray 3- drop the yellow packet on the tray 4- move your arm towards the table 5- move the trolley forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom 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 up the bottom pen\n\u003c/PRED\u003e","video":"16198816098972182683.mp4"}
+{"uid":"5950842942821834119","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":"11029969731742099326.mp4"}
+{"uid":"9768780348943436574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush 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":"15864557438311060025.mp4"}
+{"uid":"11857992576952788250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bowl form the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8148927557319657444.mp4"}
+{"uid":"12856456440706244437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup 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":"4871965463386673292.mp4"}
+{"uid":"10584644936009837993","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":"16693664302817611769.mp4"}
+{"uid":"13093771725585224580","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow packet from the table 2- move your arm towards the table 3- move the trolley forward 4- done\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: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: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: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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: Pick up 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: Pick up the yellow packet from the table\n\u003c/PRED\u003e","video":"1598268080061782684.mp4"}
+{"uid":"3255744699369405907","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":"15115234477064838019.mp4"}
+{"uid":"5100241066326629393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"12282937947548571497.mp4"}
+{"uid":"4611686743832442206","text":"\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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes 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- grasp the sanitizer bottle 2- pick the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes from the table 2- place the sticky notes in the black tray 3- pick the top right pen on the table 4- place the pen in the black tray 5- pick the right pen 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: 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: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: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":"7181852996535312702.mp4"}
+{"uid":"5801933053081014871","text":"\u003ctask:success:discrete:True\u003e\npick the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen on the table\n\u003c/PRED\u003e","video":"12671385476987013271.mp4"}
+{"uid":"5412870835802952617","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky notes 2- place the sticky notes in the black tray 3- pick the top right pen on the table 4- place the pen in the black tray 5- pick the right pen 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: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky notes\n\u003c/PRED\u003e","video":"14830636176871522092.mp4"}
+{"uid":"14374813635636919760","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":"15636996947884928703.mp4"}
+{"uid":"8074695910507707535","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the rightmost pen from the table 2- drop the pen on the tray 3- pick up the bottom pen 4- Drop the pen in the trolley 5- drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the rightmost 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 rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the rightmost pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray Q: immediate next step? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the rightmost 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 rightmost pen from the table\n\u003c/PRED\u003e","video":"10611399707840114661.mp4"}
+{"uid":"11635232192917894957","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\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- grasp the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sanitizer bottle in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\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- grasp the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sanitizer bottle in the trolley 2- pick the sticky notes 3- place the sticky notes in the black tray 4- pick the top right pen on the table 5- place the pen in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sanitizer bottle in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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 trolley\n\u003c/PRED\u003e","video":"13168830390891137400.mp4"}
+{"uid":"9452339166271230931","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen on 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:success:discrete:True\u003e\npick the right pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the right pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on the tray 2- pick up the bottom pen 3- Drop the pen in the trolley 4- drop the pen on the tray 5- drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e","video":"13928948216874143393.mp4"}
+{"uid":"270948829322401452","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bottom pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bottom pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3241689362165641656.mp4"}
+{"uid":"8626451247143296363","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle on 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 sanitizer bottle on the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle on 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: none Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the black tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle on the black 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: place the sanitizer bottle on 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle on the black tray 2- pick the sticky notes 3- place the sticky notes in the black tray 4- pick the top right pen on the table 5- place the pen in the black tray\n\u003c/PRED\u003e","video":"7168525011487342958.mp4"}
+{"uid":"4799680389262622462","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 rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the rightmost 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the rightmost 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 rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the rightmost 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the rightmost pen from the table 2- Drop the pen in the trolley 3- drop the pen on the tray 4- drop the yellow packet on the tray 5- move your arm towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e","video":"9907951338834255832.mp4"}
+{"uid":"3619564674611864205","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"12336629593518782164.mp4"}
+{"uid":"17374798773275707218","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the trolley 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 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray Q: immediate next step? \u003cPRED\u003eA: Push the trolley to the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the trolley 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: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 to the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray 10- pick up the bottom pen 11- Drop the pen in the trolley 12- drop the pen on the tray 13- drop the yellow packet on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Push the trolley to the wall 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the trolley 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":"10938439128691575835.mp4"}
+{"uid":"5930184142070779720","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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: immediate next step? \u003cPRED\u003eA: pick the bottom pen on 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes 5- place the sticky notes in the black tray 6- pick the top right pen on the table 7- place the pen in the black tray 8- pick the right pen on the table 9- drop the pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottom pen on the table 2- drop the pen on the tray 3- drop the yellow packet on the tray 4- move your arm towards the table 5- move the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottom pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottom pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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 pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottom pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottom pen on the table\n\u003c/PRED\u003e","video":"12994661256350879125.mp4"}
+{"uid":"12291908574572963340","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky notes on 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 sticky notes on the black tray\n\u003c/PRED\u003e","video":"14363188080250943840.mp4"}
+{"uid":"9619887685717828891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chair near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14355068744622796441.mp4"}
+{"uid":"13071435679483419865","text":"\u003ctask:success:discrete:False\u003e\nPick up the top 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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the top right pen from the table 2- place the pen in the black tray 3- pick the right pen on the table 4- drop the pen on the tray 5- pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the top right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the top 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: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 right 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 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- grasp the sanitizer bottle 2- pick the sanitizer bottle 3- place the sanitizer bottle in the black tray 4- pick the sticky notes Q: immediate next step? \u003cPRED\u003eA: Pick up the top right pen from the table\n\u003c/PRED\u003e","video":"9893268913796461686.mp4"}
+{"uid":"2665716406949626939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tong in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16813859292448049122.mp4"}
+{"uid":"10119082319013810991","text":"\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\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: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- grasp the sanitizer bottle 2- pick the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle in the black tray 2- pick the sticky notes 3- place the sticky notes in the black tray 4- pick the top right pen on the table 5- place 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: place the sanitizer bottle 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- grasp the sanitizer bottle 2- pick the sanitizer 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: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","video":"7238036691027822917.mp4"}
+{"uid":"12933552718998803963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the numi box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10307995478883449777.mp4"}
+{"uid":"4202287624418005205","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put instant oatmeal pack in coffee cup 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- drop the orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput instant oatmeal pack in 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:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput instant oatmeal pack in 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: put instant oatmeal pack in coffee cup\n\u003c/PRED\u003e","video":"12388462833633569807.mp4"}
+{"uid":"10967595915796414639","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- drop the orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into bowl\n\u003c/PRED\u003e","video":"12556011089758543407.mp4"}
+{"uid":"147023860234184317","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue Q: immediate next step? \u003cPRED\u003eA: drop the orange on table\n\u003c/PRED\u003e","video":"7218101963425748166.mp4"}
+{"uid":"5343523888955513057","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on brown paper 2- drop the orange on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table Q: immediate next step? \u003cPRED\u003eA: put spoon on brown paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on brown paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"134671384549055959.mp4"}
+{"uid":"16522056892246565425","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon into bowl 2- drop the tissue on table 3- drop the spoon on tissue 4- drop the orange on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the spoon into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the spoon into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon 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\ndrop the spoon 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":"5771036674018073843.mp4"}
+{"uid":"7822274690969457104","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tissue 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":"9343864805522541155.mp4"}
+{"uid":"81956736359637033","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- place the fruit 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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- put orange on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- put orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16107572959362741243.mp4"}
+{"uid":"15455178046272658553","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the spoon into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the spoon 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":"3640761484940936799.mp4"}
+{"uid":"17799802474940070894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11822745755033083680.mp4"}
+{"uid":"2749151584941215225","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 wash an apple for me?. last 20 steps: 1- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the apple 2- put the apple in the sink 3- open the tab 4- wash the apple 5- close the tab\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"17684092789192235912.mp4"}
+{"uid":"11267227986197775864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green object 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":"7047317628527849930.mp4"}
+{"uid":"6706467785351085402","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple 6- close the tab 7- pull the white paper Q: immediate next step? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple 6- close the tab 7- pull the white paper Q: next 5 steps? \u003cPRED\u003eA: 1- throw the paper in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7547519621111661575.mp4"}
+{"uid":"5814620492259066035","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon on tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon on 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon on tissue 2- drop the orange on table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon on 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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the spoon on tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table Q: immediate next step? \u003cPRED\u003eA: drop the spoon on tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon on tissue\n\u003c/PRED\u003e","video":"4926263692994512418.mp4"}
+{"uid":"3545493017541259810","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":"9212748632956340076.mp4"}
+{"uid":"16049728727289586954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue mixture 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":"3002498933210741067.mp4"}
+{"uid":"6176877744597213850","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the sink\n\u003c/PRED\u003e","video":"6839494292439908170.mp4"}
+{"uid":"8006284293470143632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12570146802722116190.mp4"}
+{"uid":"9797745752529381008","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put brown paper on table 2- drop the spoon on tissue 3- drop the orange on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl Q: immediate next step? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown paper 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 brown paper on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown paper on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put brown paper on table\n\u003c/PRED\u003e","video":"14618919335667318699.mp4"}
+{"uid":"7492692662388278204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the apple from 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":"51410077185042726.mp4"}
+{"uid":"12122957303231973963","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- done\n\u003c/PRED\u003e","video":"7111492884158026426.mp4"}
+{"uid":"1099315656944161719","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e","video":"6048766616936721124.mp4"}
+{"uid":"12869941319906784708","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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 fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"4751253690965823731.mp4"}
+{"uid":"7761033444939695161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4120831557031879772.mp4"}
+{"uid":"15570964029811281109","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wash the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwash the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwash the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab Q: immediate next step? \u003cPRED\u003eA: wash the apple\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab Q: next 5 steps? \u003cPRED\u003eA: 1- wash the apple 2- close the tab 3- pull the white paper 4- throw the paper in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: wash the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wash the apple\n\u003c/PRED\u003e","video":"13909627101734979944.mp4"}
+{"uid":"5233342371236053242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9947402849200565996.mp4"}
+{"uid":"12458002724172341751","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in coffee cup 2- drop the tissue on table 3- drop the spoon on tissue 4- drop the orange on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in coffee cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl Q: immediate next step? \u003cPRED\u003eA: put spoon in coffee cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in 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:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon in coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in coffee cup\n\u003c/PRED\u003e","video":"6286775677525734855.mp4"}
+{"uid":"14692299958900684768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy 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":"489394018224314408.mp4"}
+{"uid":"17861940401072140802","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"11122733091016252461.mp4"}
+{"uid":"11426181886939984823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown object in 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":"6740189328013796965.mp4"}
+{"uid":"2357433036661783939","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the cup 2- drop the tissue on table 3- drop the spoon on tissue 4- drop the orange on table 5- done\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: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","video":"12231760027076081608.mp4"}
+{"uid":"15089053200694029808","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":"18408490323966638178.mp4"}
+{"uid":"10339124552252755351","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":"16949361986342461246.mp4"}
+{"uid":"129055188754620677","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- drop the orange on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- drop the orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16378886222013528421.mp4"}
+{"uid":"9523718312721404003","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into bowl\n\u003c/PRED\u003e","video":"3396651746118710891.mp4"}
+{"uid":"18432231795167969081","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table Q: immediate next step? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl 3- drop the tissue on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on the tissue 2- drop the orange on table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6919034094797993874.mp4"}
+{"uid":"13990041418397777724","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":"10020416574318883602.mp4"}
+{"uid":"13215525082076749622","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the cup 2- drop the spoon into bowl 3- drop the tissue on table 4- drop the spoon on tissue 5- drop the orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the packet in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the cup\n\u003c/PRED\u003e","video":"7637979605448511223.mp4"}
+{"uid":"12803278828489208437","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the cup\n\u003c/PRED\u003e","video":"1347777658708616079.mp4"}
+{"uid":"17414787887740702355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wash the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: close the tab\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwash the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tab\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple Q: immediate next step? \u003cPRED\u003eA: close the tab\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the tab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 tab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 tab\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple Q: next 5 steps? \u003cPRED\u003eA: 1- close the tab 2- pull the white paper 3- throw the paper in the dustbin 4- done\n\u003c/PRED\u003e","video":"8144873215488161401.mp4"}
+{"uid":"10403892737348697877","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- drop the spoon on tissue 3- drop the orange on table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15571935890718356220.mp4"}
+{"uid":"1044524478651637979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16145822964280948404.mp4"}
+{"uid":"4024693698306193010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9808072964872670534.mp4"}
+{"uid":"1445467889729767182","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":"3675137344009251162.mp4"}
+{"uid":"1588524779586020542","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":"14146643527311335309.mp4"}
+{"uid":"7191641385955694405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"107290889295654030.mp4"}
+{"uid":"7920378281534469927","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple 6- close the tab 7- pull the white paper 8- throw the paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple 6- close the tab 7- pull the white paper 8- throw the paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16101011465625511768.mp4"}
+{"uid":"10098322123017496455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the spoon on tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the spoon on tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12046768217670608199.mp4"}
+{"uid":"10525359542333260877","text":"\u003ctask:success:discrete:False\u003e\ndrop the tissue 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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl Q: immediate next step? \u003cPRED\u003eA: drop the tissue on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue 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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the tissue on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into bowl 2- drop the spoon into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue on table 2- drop the spoon on tissue 3- drop the orange on table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue on table\n\u003c/PRED\u003e","video":"16312893967567295620.mp4"}
+{"uid":"1907306305586821499","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple Q: immediate next step? \u003cPRED\u003eA: put the apple in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the sink 2- open the tab 3- wash the apple 4- close the tab 5- pull the white paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: put the apple in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the sink\n\u003c/PRED\u003e","video":"11938745888885469277.mp4"}
+{"uid":"3534212773348152475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"16738485394960775968.mp4"}
+{"uid":"9754042336720486274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8891863276689252711.mp4"}
+{"uid":"9525502120672922558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17465713610373579555.mp4"}
+{"uid":"11408429849675186908","text":"\u003ctask:success:discrete:False\u003e\nopen the tab Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 tab\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the tab\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink Q: immediate next step? \u003cPRED\u003eA: open the tab\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: open the tab\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the tab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- open the tab 2- wash the apple 3- close the tab 4- pull the white paper 5- throw the paper in the dustbin\n\u003c/PRED\u003e","video":"7108069781751194962.mp4"}
+{"uid":"6661087067346395265","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"16210423253114968895.mp4"}
+{"uid":"15681460595507222057","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple 6- close the tab Q: next 5 steps? \u003cPRED\u003eA: 1- pull the white paper 2- throw the paper in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the white paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the white paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wash an apple for me?. last 20 steps: 1- enter the room 2- pickup the apple 3- put the apple in the sink 4- open the tab 5- wash the apple 6- close the tab Q: immediate next step? \u003cPRED\u003eA: pull the white paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wash an apple for me? Q: immediate next step? \u003cPRED\u003eA: pull the white paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the white paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the white paper\n\u003c/PRED\u003e","video":"6105325102070009294.mp4"}
+{"uid":"583995895420846304","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":"12976606900418196942.mp4"}
+{"uid":"12361712273266990696","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"16944936131112472824.mp4"}
+{"uid":"2496695934304318776","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"5250372623091805013.mp4"}
+{"uid":"4139189490850810918","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lead of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lead 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\nplace the lead 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: immediate next step? \u003cPRED\u003eA: place the lead of the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the lead of the jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: place the lead of the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lead of the jar\n\u003c/PRED\u003e","video":"12730067888568889878.mp4"}
+{"uid":"3545939727702581116","text":"\u003ctask:success:discrete:True\u003e\nput pistachio from the cup into 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 pistachio from the cup into the jar\n\u003c/PRED\u003e","video":"4601229814845674653.mp4"}
+{"uid":"11239812657392528195","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the Jar lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the Jar lid on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from 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: put the Jar lid on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the Jar lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: put the Jar lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the Jar 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:affordance:discriminative:discrete:True\u003e\nput the Jar 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","video":"7878114490816316809.mp4"}
+{"uid":"8596537881240059056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18250477461149728254.mp4"}
+{"uid":"7471941994838291649","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the glass of nut in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the glass of nut in jar 2- pick the lid from table 3- place the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table Q: immediate next step? \u003cPRED\u003eA: Pour the glass of nut in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the glass of nut in 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: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: Pour the glass of nut in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the glass of nut in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the glass of nut in 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":"6262565439891882090.mp4"}
+{"uid":"12867573957283920863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17496528724064815901.mp4"}
+{"uid":"11898825379566129480","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"11533135521463748462.mp4"}
+{"uid":"10376708677163572478","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cap to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cap to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cap 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: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: Put the cap to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the cap to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cap to the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from 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: Put the cap to the table\n\u003c/PRED\u003e","video":"3030163540604957401.mp4"}
+{"uid":"5907573000239452960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"11617783933516246127.mp4"}
+{"uid":"6294311661141606180","text":"\u003ctask:success:discrete:True\u003e\npour the pistachio into 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: pour the pistachio into the jar\n\u003c/PRED\u003e","video":"12380401253196329733.mp4"}
+{"uid":"8474444899642028082","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":"9474443513373530358.mp4"}
+{"uid":"11557229672367028907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown 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":"16030458731641156412.mp4"}
+{"uid":"8879967216627505253","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":"1920906001208851789.mp4"}
+{"uid":"11289936119241118088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet inside 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":"16706902544963233278.mp4"}
+{"uid":"3572712445015502920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18112851962908782306.mp4"}
+{"uid":"541615218630609544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a blue candy 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":"16134008183720674416.mp4"}
+{"uid":"5896250206658465235","text":"\u003ctask:success:discrete:True\u003e\npick the lid from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the lid from table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13706540785340316779.mp4"}
+{"uid":"2278244037734716118","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lead of the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lead of 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: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- place the lead of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- place the lead of the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13158717503001827296.mp4"}
+{"uid":"11368932949507251916","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the glass of nut in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPour the glass of nut in 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":"1248022692128079655.mp4"}
+{"uid":"16438330093781380799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lead of the jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lead of the jar 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":"16003756145901091421.mp4"}
+{"uid":"15871495283411302656","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"4078880368487618883.mp4"}
+{"uid":"4298380794455647270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sponge in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2695629422143693710.mp4"}
+{"uid":"7200310359905317640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12461668011128707370.mp4"}
+{"uid":"15791031175438029295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8838701297551372813.mp4"}
+{"uid":"3216101530061864808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: Close the cap on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cap on 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: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cap on jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cap on 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: Close the cap on jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cap on jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table Q: immediate next step? \u003cPRED\u003eA: Close the cap on jar\n\u003c/PRED\u003e","video":"478120868376067668.mp4"}
+{"uid":"14009820075484193761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3547231800362045347.mp4"}
+{"uid":"11038990603910339627","text":"\u003ctask:success:discrete:True\u003e\nput the Jar lid 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 Jar lid on the table\n\u003c/PRED\u003e","video":"13944147477979929970.mp4"}
+{"uid":"15909477086704696820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10910036863146334599.mp4"}
+{"uid":"7493007976938497711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5679927927033790067.mp4"}
+{"uid":"1209748154954337752","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table 5- Close the cap on jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table 5- Close the cap on jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the cap on jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the cap on 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":"17783959855055054044.mp4"}
+{"uid":"14938447775118264356","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table Q: immediate next step? \u003cPRED\u003eA: Put cap on the Jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table Q: next 5 steps? \u003cPRED\u003eA: 1- Put cap on the Jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut cap 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put cap on the Jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: Put cap on the Jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put cap on the Jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut cap 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":"3681430286313937683.mp4"}
+{"uid":"7190996295213732972","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":"2423994057974744408.mp4"}
+{"uid":"2788609777839894407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9230785464254659190.mp4"}
+{"uid":"8283253591491089371","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table Q: immediate next step? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the pistachio into 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\npour the pistachio into 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: pour the pistachio into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pistachio into the jar 2- pick the lid from table 3- place the lid on the jar 4- done\n\u003c/PRED\u003e","video":"15038331370780603364.mp4"}
+{"uid":"12519269155535321951","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: immediate next step? \u003cPRED\u003eA: 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 lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? 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\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the jar 2- done\n\u003c/PRED\u003e","video":"13767631437603876967.mp4"}
+{"uid":"5427248734527692045","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up jar cap 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up jar 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: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: immediate next step? \u003cPRED\u003eA: Pick up jar cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up jar cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up jar cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: Pick up jar cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up jar 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","video":"6745205146631595590.mp4"}
+{"uid":"14363560654650330757","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"14374671163321934545.mp4"}
+{"uid":"12823611390007673419","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table Q: immediate next step? \u003cPRED\u003eA: pick the cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cup from the table 2- put pistachio from the cup into the jar 3- pick the lid from table 4- place the lid on the jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: pick the cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the 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","video":"14017859874569241213.mp4"}
+{"uid":"9594480673196951032","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lead 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- pick the lid from table 5- 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 lead of the jar on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the lead of the jar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: place the lead of the jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lead 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lead of the jar on the table\n\u003c/PRED\u003e","video":"4594794112232483873.mp4"}
+{"uid":"17343806885964240719","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- place the lid on the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar 4- place the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: done\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":"8516318377269977145.mp4"}
+{"uid":"8756268847658761897","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"12144678760877462831.mp4"}
+{"uid":"13119925759751275497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown paper 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":"16156141349349289686.mp4"}
+{"uid":"3110506540403730200","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":"13469792257129857248.mp4"}
+{"uid":"4606878480215626510","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the table 2- pick the lid from table 3- place the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1485076513695129329.mp4"}
+{"uid":"13254961076390179447","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the black pens into the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the black pens into the holder. last 20 steps: 1- Put the pen in the holder 2- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"7037254385212189852.mp4"}
+{"uid":"18116385916979381319","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the lid from table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the lid from table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: pick the lid from table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick the lid from table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table 3- put pistachio from the cup into the jar Q: immediate next step? \u003cPRED\u003eA: pick the lid from table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the lid from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 lid from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12367815864685835334.mp4"}
+{"uid":"10033546455484545652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"4590100084899179109.mp4"}
+{"uid":"6109945680371009990","text":"\u003ctask:success:discrete:True\u003e\npick the 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cup from the table\n\u003c/PRED\u003e","video":"7252448104248050858.mp4"}
+{"uid":"8537075791665091625","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table Q: immediate next step? \u003cPRED\u003eA: Put the glass on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: Put the glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on table 2- pick the lid from table 3- place the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5452792327132169386.mp4"}
+{"uid":"17802103221418903706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep bowl at front on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14265524924326604959.mp4"}
+{"uid":"5687777532603859384","text":"\u003ctask:success:discrete:True\u003e\nPut the cap 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: Put the cap to the table\n\u003c/PRED\u003e","video":"12639250669943398673.mp4"}
+{"uid":"2636714873537366969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6257726726602155648.mp4"}
+{"uid":"14850879047894664469","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sanitizer bottle in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15982871702708218764.mp4"}
+{"uid":"10873393691781826038","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":"17881020871815921927.mp4"}
+{"uid":"12225409796652105346","text":"\u003ctask:success:discrete:False\u003e\nput pistachio from the cup into 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 pistachio from the cup into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio from the cup into 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: i don't want the pistachios anymore. can you put them back in the container? Q: immediate next step? \u003cPRED\u003eA: put pistachio from the cup into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio from the cup into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table Q: immediate next step? \u003cPRED\u003eA: put pistachio from the cup into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put them back in the container?. last 20 steps: 1- place the lead of the jar on the table 2- pick the cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio from the cup into the jar 2- pick the lid from table 3- place the lid on the jar 4- done\n\u003c/PRED\u003e","video":"11016520060066935014.mp4"}
+{"uid":"4855921285405038103","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput another apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put another apple in the crate 2- place the fruit in the crate 3- done\n\u003c/PRED\u003e","video":"8966318942037316433.mp4"}
+{"uid":"2169724359706620036","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- place the fruit in the crate 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e","video":"10402842563406489065.mp4"}
+{"uid":"15323826547280121001","text":"\u003ctask:success:discrete:True\u003e\nexit the room with yellow can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with yellow can\n\u003c/PRED\u003e","video":"9806335556146372447.mp4"}
+{"uid":"16681820966889154564","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e","video":"15653982642199128288.mp4"}
+{"uid":"6946896079079109994","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple 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":"1132683417662935640.mp4"}
+{"uid":"13774409098307765316","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple 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 apple in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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":"353494510197423930.mp4"}
+{"uid":"13764200014254272860","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Put the candy on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the counter 2- Close the drawer 3- Pick up the candy 4- Put the candy 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 candy on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the candy on the counter\n\u003c/PRED\u003e","video":"3804240999777393927.mp4"}
+{"uid":"12378641790741470534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"9223495912781018728.mp4"}
+{"uid":"16937871925842398065","text":"\u003ctask:success:discrete:True\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fruit in the crate\n\u003c/PRED\u003e","video":"759024527119992818.mp4"}
+{"uid":"6192080332674050354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4570724229701053851.mp4"}
+{"uid":"33255663212023778","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the crate\n\u003c/PRED\u003e","video":"18309127506187380134.mp4"}
+{"uid":"4397699183798068950","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6576630646542168358.mp4"}
+{"uid":"17917688504567939046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10978997431575224835.mp4"}
+{"uid":"3186817683123072841","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e","video":"4948726826960590643.mp4"}
+{"uid":"215037939511137096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2890578802516139731.mp4"}
+{"uid":"2231073607556464743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace purple 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":"2052326459361442618.mp4"}
+{"uid":"1388627063242446207","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 in the crate\n\u003c/PRED\u003e","video":"12482977551601945115.mp4"}
+{"uid":"16378828302988605326","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":"6081980789823370903.mp4"}
+{"uid":"1478997855664786320","text":"\u003ctask:success:discrete:False\u003e\nput the last apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 last apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 last apple in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the last apple in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the last apple in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the last apple in the crate 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the last apple in the crate\n\u003c/PRED\u003e","video":"500288742446399403.mp4"}
+{"uid":"629948663412172953","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer 4- Put the candy on the counter 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:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk 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: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer 4- Put the candy on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Pick up the candy 3- Put the candy on the table 4- 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":"2791128517240712785.mp4"}
+{"uid":"18397340384871707576","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":"6846325839084751684.mp4"}
+{"uid":"12287719819690502935","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e","video":"1574686311006616244.mp4"}
+{"uid":"10515407188233608835","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput another apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apples into the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put another apple in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e","video":"17816925955463069166.mp4"}
+{"uid":"16226117369722039756","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e","video":"1902998617294440380.mp4"}
+{"uid":"4765816844386674147","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- open refrigerator door 2- pick up yellow can 3- exit the room with yellow can 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- open refrigerator door 2- pick up yellow can 3- exit the room with yellow can 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11264585893923759660.mp4"}
+{"uid":"14195665951652744219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass stack on existing stack in the glass stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14114534071033429025.mp4"}
+{"uid":"2098242793637868429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2536168828293702655.mp4"}
+{"uid":"9229259280486156217","text":"\u003ctask:success:discrete:True\u003e\nPut the wrapper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the wrapper in the dustbin\n\u003c/PRED\u003e","video":"9547375092953529732.mp4"}
+{"uid":"15223658898347770467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a 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":"16775113096748388372.mp4"}
+{"uid":"1855766830518604247","text":"\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 provide refreshments to employees . last 20 steps: 1- open refrigerator door 2- pick up yellow can 3- exit the room with yellow can Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 provide refreshments to employees . last 20 steps: 1- open refrigerator door 2- pick up yellow can 3- exit the room with yellow can Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"16399480418409613688.mp4"}
+{"uid":"18059625596095086593","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate 8- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate 7- place the fruit in the crate 8- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apples into the crate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e","video":"16378633741050926007.mp4"}
+{"uid":"9688448787564576786","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":"8405991859176351432.mp4"}
+{"uid":"4017197063645280649","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer 4- Put the candy on the counter 5- Close the drawer 6- Pick up the candy Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer 4- Put the candy on the counter 5- Close the drawer 6- Pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Put the candy on the table\n\u003c/PRED\u003e","video":"15228355790009241254.mp4"}
+{"uid":"4380911613559382027","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":"794042171522068898.mp4"}
+{"uid":"10978610433542427607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"6481111886436732510.mp4"}
+{"uid":"17252285872909568025","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16082734914082157240.mp4"}
+{"uid":"4767323627685912024","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":"7978445041175744034.mp4"}
+{"uid":"6202454972343118055","text":"\u003ctask:success:discrete:True\u003e\nopen refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e","video":"12235169578178571741.mp4"}
+{"uid":"15660050416123116798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5562031306392142287.mp4"}
+{"uid":"18209879872860435613","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":"10812759288844686799.mp4"}
+{"uid":"9089139492244355399","text":"\u003ctask:success:discrete:False\u003e\nopen refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open refrigerator door 2- pick up yellow can 3- exit the room with yellow can 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e","video":"7043975290090659878.mp4"}
+{"uid":"1902392571846332662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace Pistachio inside the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10861202392137566217.mp4"}
+{"uid":"1465050790920844956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12478714477354376760.mp4"}
+{"uid":"4287942745587476108","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- open refrigerator door 2- pick up yellow can Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with yellow can 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: exit the room with yellow can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with yellow can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with yellow can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- open refrigerator door 2- pick up yellow can Q: immediate next step? \u003cPRED\u003eA: exit the room with yellow can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: exit the room with yellow can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with yellow 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":"7345150352263114363.mp4"}
+{"uid":"14556481489010744345","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the candy on the counter 3- Close the drawer 4- Pick up the candy 5- Put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 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:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5800546676633486592.mp4"}
+{"uid":"17987084033846786059","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","video":"4015137715059079989.mp4"}
+{"uid":"13563350919802039249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14041082559159374838.mp4"}
+{"uid":"11301807071596313355","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":"5231081787745831513.mp4"}
+{"uid":"17914349234275434459","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput another apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put another apple in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e","video":"16948387055282788447.mp4"}
+{"uid":"15531775475836827587","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9911866005862106514.mp4"}
+{"uid":"3825794871467308713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"15125042577264160768.mp4"}
+{"uid":"17749754781636161789","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2155644042670252616.mp4"}
+{"uid":"10335191220052413001","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":"16302937583012136633.mp4"}
+{"uid":"13733228745938292135","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 another apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put another apple in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e","video":"1939245883870172059.mp4"}
+{"uid":"9840861320122175898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13441846810272019046.mp4"}
+{"uid":"17154516361369040846","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wrapper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper Q: immediate next step? \u003cPRED\u003eA: Put the wrapper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wrapper 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wrapper in the dustbin 2- Open the drawer 3- Put the candy on the counter 4- Close the drawer 5- Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wrapper 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: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Put the wrapper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wrapper in the dustbin\n\u003c/PRED\u003e","video":"17163777658727547325.mp4"}
+{"uid":"13455128724230498714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"274566881366078485.mp4"}
+{"uid":"17984948397693440545","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e","video":"1855182982734491537.mp4"}
+{"uid":"11113094409130850717","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- done\n\u003c/PRED\u003e","video":"14959804486179116359.mp4"}
+{"uid":"13302563150854694565","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11357102275621211895.mp4"}
+{"uid":"14154922571410039496","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":"12196719195864773205.mp4"}
+{"uid":"4952401668696085574","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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":"8346607232379117012.mp4"}
+{"uid":"6207713872173020379","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":"1788655302535833366.mp4"}
+{"uid":"7563119968776718606","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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 apple 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 apple in the tray\n\u003c/PRED\u003e","video":"5710226921246209069.mp4"}
+{"uid":"1120338420559858570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"14063974045728325555.mp4"}
+{"uid":"13926783860799770166","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: pick up yellow can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up yellow can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up yellow can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up yellow can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- open refrigerator door Q: immediate next step? \u003cPRED\u003eA: pick up yellow can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- open refrigerator door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up yellow can 2- exit the room with yellow can 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up yellow can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13455404656447333925.mp4"}
+{"uid":"3836934541133796683","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput another apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put another apple in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apples into the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e","video":"9176492488906000196.mp4"}
+{"uid":"2882294550328952173","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":"12888436380606266568.mp4"}
+{"uid":"10200128191694558302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi bag in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9357341373476460696.mp4"}
+{"uid":"12698670982784128951","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer 4- Put the candy on the counter 5- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a laffy taffy from Mk kitchen to my desk. last 20 steps: 1- Pick up the wrapper 2- Put the wrapper in the dustbin 3- Open the drawer 4- Put the candy on the counter 5- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the candy 2- Put the candy on the table 3- done\n\u003c/PRED\u003e","video":"16052480636867466264.mp4"}
+{"uid":"11014629792100498275","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple 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 apple in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e","video":"1025293478116568397.mp4"}
+{"uid":"17058072953792304213","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6951262474866950233.mp4"}
+{"uid":"2533525134978762585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the spanners 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":"2650165380855824475.mp4"}
+{"uid":"5690661582228112038","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":"12134658696475588094.mp4"}
+{"uid":"4654008969320136457","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit in the crate 2- place the fruit in the crate 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate 6- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit in the crate\n\u003c/PRED\u003e","video":"16283766218281379434.mp4"}
+{"uid":"1308494196291065586","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put the apple in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the tray 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple 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 apple 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 apple in the tray\n\u003c/PRED\u003e","video":"1827571728103848726.mp4"}
+{"uid":"17531922223970964253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork 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":"3404120148021596659.mp4"}
+{"uid":"12850315584107958894","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":"16237379899162118742.mp4"}
+{"uid":"2513578192867301233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6430949107841276249.mp4"}
+{"uid":"16882431830703419777","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate Q: next 5 steps? \u003cPRED\u003eA: 1- put another apple in the crate 2- place the fruit in the crate 3- place the fruit in the crate 4- place the fruit in the crate 5- place the fruit in the crate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place the fruit in the crate 2- place the fruit in the crate Q: immediate next step? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another apple in the crate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput another apple in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 another apple in the crate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14667664073482199409.mp4"}
+{"uid":"6452458944801384354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9524900668931265753.mp4"}
+{"uid":"856069894917556380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14960901120090901428.mp4"}
+{"uid":"961364196704882994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3600819732832376206.mp4"}
+{"uid":"4310294079977484972","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":"12383456061196623063.mp4"}
+{"uid":"15853537747817428554","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put holder in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door Q: immediate next step? \u003cPRED\u003eA: put holder in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door Q: next 5 steps? \u003cPRED\u003eA: 1- put holder in the rack 2- open the tray 3- adjust the tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e","video":"154018374032339654.mp4"}
+{"uid":"11737600177539498174","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":"10873037620641566982.mp4"}
+{"uid":"2546482826233106905","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":"13890654705156699194.mp4"}
+{"uid":"5462096801394798472","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put holder on table 3- open the right door 4- open left door 5- put holder in the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"11170724968675365814.mp4"}
+{"uid":"1631923117001310432","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate Q: immediate next step? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate Q: immediate next step? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the plate 2- place banana on the plate 3- place orange on the plate 4- place orange on the plate 5- place orange on the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9640359074648036667.mp4"}
+{"uid":"7248980917905645864","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":"586073981037793115.mp4"}
+{"uid":"5235522681152121767","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put holder on table 9- open the right door 10- open left door 11- put holder in the rack 12- open the tray 13- adjust the tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- adjust the pen in tray 20- close the tray Q: immediate next step? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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\nopen 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put holder on table 9- open the right door 10- open left door 11- put holder in the rack 12- open the tray 13- adjust the tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- adjust the pen in tray 20- close the tray Q: next 5 steps? \u003cPRED\u003eA: 1- open the tray 2- put pen in tray 3- put pen in tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e","video":"520692887520720072.mp4"}
+{"uid":"6741473912095207686","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the right door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the right door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the right door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table Q: immediate next step? \u003cPRED\u003eA: open the right door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table Q: next 5 steps? \u003cPRED\u003eA: 1- open the right door 2- open left door 3- put holder in the rack 4- open the tray 5- adjust the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1684793615760003278.mp4"}
+{"uid":"15055723745075945037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pista 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":"5435857459993677203.mp4"}
+{"uid":"15908932435199517889","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put holder on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put holder on table 2- open the right door 3- open left door 4- put holder in the rack 5- open the tray\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: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:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put holder on table\n\u003c/PRED\u003e","video":"5504813397755610297.mp4"}
+{"uid":"4150934428233960280","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- put pen in tray 4- adjust the pen in tray 5- close the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12362569051491002849.mp4"}
+{"uid":"5159615694558754683","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":"2902701370556656497.mp4"}
+{"uid":"13863683442225386743","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- open left door 2- put holder in the rack 3- open the tray 4- adjust the tray 5- put pen in tray 6- put pen in tray 7- put pen in tray 8- put pen in tray 9- put pen in tray 10- adjust the pen in tray 11- close the tray 12- open the tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- adjust the holder 19- close the tray 20- close the left door Q: next 5 steps? \u003cPRED\u003eA: 1- close the right door 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- open left door 2- put holder in the rack 3- open the tray 4- adjust the tray 5- put pen in tray 6- put pen in tray 7- put pen in tray 8- put pen in tray 9- put pen in tray 10- adjust the pen in tray 11- close the tray 12- open the tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- adjust the holder 19- close the tray 20- close the left door Q: immediate next step? \u003cPRED\u003eA: close the right door\n\u003c/PRED\u003e","video":"15036089027671236033.mp4"}
+{"uid":"12508513840022984461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coffee cup on cups 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":"3167595453532327997.mp4"}
+{"uid":"15945998791770398533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the loofah in the white container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6187654205332843578.mp4"}
+{"uid":"708211768254332748","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":"669251842643076680.mp4"}
+{"uid":"18325132956375287111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4053698546185968505.mp4"}
+{"uid":"8219516012862767751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic 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":"10776313066935687345.mp4"}
+{"uid":"11178194224947058274","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":"6684348276330185803.mp4"}
+{"uid":"12583799226044657005","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate 4- place orange on the plate 5- place orange on the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate Q: immediate next step? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16581165598237884671.mp4"}
+{"uid":"9256440117717026351","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"3884919519177260485.mp4"}
+{"uid":"17450834750405111463","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- adjust the pen in tray 4- close the tray 5- open the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1157415984751673993.mp4"}
+{"uid":"3974655604505851806","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":"12062446109614050044.mp4"}
+{"uid":"433546853993828731","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate 4- place orange on the plate 5- place orange on the plate Q: immediate next step? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate Q: immediate next step? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate 4- place orange on the plate 5- place orange on the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the plate 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e","video":"7406004922749562828.mp4"}
+{"uid":"7839289318414060535","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put holder on table 2- open the right door 3- open left door 4- put holder in the rack 5- open the tray 6- adjust the tray 7- put pen in tray 8- put pen in tray 9- put pen in tray 10- put pen in tray 11- put pen in tray 12- adjust the pen in tray 13- close the tray 14- open the tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- adjust the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the tray 2- close the left door 3- close the right door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put holder on table 2- open the right door 3- open left door 4- put holder in the rack 5- open the tray 6- adjust the tray 7- put pen in tray 8- put pen in tray 9- put pen in tray 10- put pen in tray 11- put pen in tray 12- adjust the pen in tray 13- close the tray 14- open the tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- adjust the holder Q: immediate next step? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose 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: close the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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":"2129730505797121296.mp4"}
+{"uid":"13764114056976305392","text":"\u003ctask:success:discrete:False\u003e\nplace orange on the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate Q: immediate next step? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the plate 2- place orange on the plate 3- place orange on the plate 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate Q: immediate next step? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e","video":"17606392795959437687.mp4"}
+{"uid":"11144512546621768557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Black Binder 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":"432735359460562090.mp4"}
+{"uid":"12647926040353037189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a paper 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":"9660621306918417701.mp4"}
+{"uid":"3234300350365276611","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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":"9718983868109637412.mp4"}
+{"uid":"5531152867230723035","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":"7052207888625261521.mp4"}
+{"uid":"13095633620787446924","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- open the tray 2- adjust the tray 3- put pen in tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack Q: immediate next step? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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":"6068022619787815654.mp4"}
+{"uid":"5397870075413559387","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":"6339328553090114075.mp4"}
+{"uid":"6018132363895796970","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":"5216330653932992314.mp4"}
+{"uid":"11911089554688261587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into 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":"2486740146376225774.mp4"}
+{"uid":"16725875268517952464","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":"14164019222606140861.mp4"}
+{"uid":"16054651438913434765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the brush 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":"4868950198050033571.mp4"}
+{"uid":"3658755808689234876","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":"10784724900721929870.mp4"}
+{"uid":"3883053067346258361","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put holder on table 7- open the right door 8- open left door 9- put holder in the rack 10- open the tray 11- adjust the tray 12- put pen in tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- adjust the pen in tray 18- close the tray 19- open the tray 20- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put holder on table 7- open the right door 8- open left door 9- put holder in the rack 10- open the tray 11- adjust the tray 12- put pen in tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- adjust the pen in tray 18- close the tray 19- open the tray 20- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- put pen in tray 4- put pen in tray 5- adjust the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6994691376509823716.mp4"}
+{"uid":"4015010480259559573","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- adjust the pen in tray 3- close the tray 4- open the tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e","video":"10213763763634583963.mp4"}
+{"uid":"9590888105607382644","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put holder on table 4- open the right door 5- open left door 6- put holder in the rack 7- open the tray 8- adjust the tray 9- put pen in tray 10- put pen in tray 11- put pen in tray 12- put pen in tray 13- put pen in tray 14- adjust the pen in tray 15- close the tray 16- open the tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put holder on table 4- open the right door 5- open left door 6- put holder in the rack 7- open the tray 8- adjust the tray 9- put pen in tray 10- put pen in tray 11- put pen in tray 12- put pen in tray 13- put pen in tray 14- adjust the pen in tray 15- close the tray 16- open the tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- adjust the holder 3- close the tray 4- close the left door 5- close the right door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e","video":"1988127341778107468.mp4"}
+{"uid":"16076250691274219536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange 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":"11952777729160870105.mp4"}
+{"uid":"7837899655254657210","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"18384128215333817053.mp4"}
+{"uid":"10470131733786682675","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put holder on table 5- open the right door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"10627024073222637816.mp4"}
+{"uid":"12916398520816804528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the dry fruit 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":"9342064086079553034.mp4"}
+{"uid":"12758257998304854759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a blue pouch 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":"14061100880298518815.mp4"}
+{"uid":"16313905651526022281","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door Q: immediate next step? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door Q: next 5 steps? \u003cPRED\u003eA: 1- open left door 2- put holder in the rack 3- open the tray 4- adjust the tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12708784168788425643.mp4"}
+{"uid":"6383299725624414232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the 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":"4100243756493572103.mp4"}
+{"uid":"16041075762482735656","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":"17868636321815870381.mp4"}
+{"uid":"175733127043952740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace fork on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16716956329032274175.mp4"}
+{"uid":"12716915707104009471","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the tray 2- put pen in tray 3- put pen in tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray Q: immediate next step? \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: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:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \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","video":"17249244807860297312.mp4"}
+{"uid":"17516712149062352861","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder\n\u003c/PRED\u003e","video":"16324947838772047340.mp4"}
+{"uid":"14207203718029029777","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- open the right door 2- open left door 3- put holder in the rack 4- open the tray 5- adjust the tray 6- put pen in tray 7- put pen in tray 8- put pen in tray 9- put pen in tray 10- put pen in tray 11- adjust the pen in tray 12- close the tray 13- open the tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- adjust the holder 20- close the tray Q: next 5 steps? \u003cPRED\u003eA: 1- close the left door 2- close the right door 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- open the right door 2- open left door 3- put holder in the rack 4- open the tray 5- adjust the tray 6- put pen in tray 7- put pen in tray 8- put pen in tray 9- put pen in tray 10- put pen in tray 11- adjust the pen in tray 12- close the tray 13- open the tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- adjust the holder 20- close the tray Q: immediate next step? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e","video":"9509129173151846908.mp4"}
+{"uid":"1590760954969432181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky note 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":"17163273127402590832.mp4"}
+{"uid":"9776128336747158096","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the pen in tray 2- close the tray 3- open the tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: immediate next step? \u003cPRED\u003eA: adjust the pen in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: adjust the pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the pen 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: adjust the pen in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14757700337444365608.mp4"}
+{"uid":"7597716796409316504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar pouch 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":"5305256697779263734.mp4"}
+{"uid":"14772111338122981492","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":"4478329087431683048.mp4"}
+{"uid":"10882385504232831260","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate Q: immediate next step? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate Q: immediate next step? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the plate 2- place orange on the plate 3- place orange on the plate 4- place orange on the plate 5- done\n\u003c/PRED\u003e","video":"12943041009543683875.mp4"}
+{"uid":"11736433700461174552","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put holder on table 3- open the right door 4- open left door 5- put holder in the rack 6- open the tray 7- adjust the tray 8- put pen in tray 9- put pen in tray 10- put pen in tray 11- put pen in tray 12- put pen in tray 13- adjust the pen in tray 14- close the tray 15- open the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: immediate next step? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put holder on table 3- open the right door 4- open left door 5- put holder in the rack 6- open the tray 7- adjust the tray 8- put pen in tray 9- put pen in tray 10- put pen in tray 11- put pen in tray 12- put pen in tray 13- adjust the pen in tray 14- close the tray 15- open the tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the holder 2- close the tray 3- close the left door 4- close the right door 5- done\n\u003c/PRED\u003e","video":"1141257868252770335.mp4"}
+{"uid":"5343458382711271324","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":"18190288740055612854.mp4"}
+{"uid":"412234247488335083","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put holder on table\n\u003c/PRED\u003e","video":"2251142679243804566.mp4"}
+{"uid":"2871825525319553863","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":"10654024212725250529.mp4"}
+{"uid":"17114787841419664452","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put holder on table 5- open the right door 6- open left door 7- put holder in the rack 8- open the tray 9- adjust the tray 10- put pen in tray 11- put pen in tray 12- put pen in tray 13- put pen in tray 14- put pen in tray 15- adjust the pen in tray 16- close the tray 17- open the tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put holder on table 5- open the right door 6- open left door 7- put holder in the rack 8- open the tray 9- adjust the tray 10- put pen in tray 11- put pen in tray 12- put pen in tray 13- put pen in tray 14- put pen in tray 15- adjust the pen in tray 16- close the tray 17- open the tray 18- put pen in tray 19- put pen in tray 20- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- adjust the holder 4- close the tray 5- close the left door\n\u003c/PRED\u003e","video":"5292491537554294927.mp4"}
+{"uid":"1376817616987883742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"5769052842815251548.mp4"}
+{"uid":"5808182345596821112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put holder on table 8- open the right door 9- open left door 10- put holder in the rack 11- open the tray 12- adjust the tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- adjust the pen in tray 19- close the tray 20- open the tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put holder on table 8- open the right door 9- open left door 10- put holder in the rack 11- open the tray 12- adjust the tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- adjust the pen in tray 19- close the tray 20- open the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- put pen in tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e","video":"18088909476868625846.mp4"}
+{"uid":"12851449799299800141","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose 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: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put holder on table 10- open the right door 11- open left door 12- put holder in the rack 13- open the tray 14- adjust the tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- adjust the pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- close the tray 2- open the tray 3- put pen in tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put holder on table 10- open the right door 11- open left door 12- put holder in the rack 13- open the tray 14- adjust the tray 15- put pen in tray 16- put pen in tray 17- put pen in tray 18- put pen in tray 19- put pen in tray 20- adjust the pen in tray Q: immediate next step? \u003cPRED\u003eA: close the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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":"6282605058805471765.mp4"}
+{"uid":"1501172940334119917","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put holder on table 6- open the right door 7- open left door 8- put holder in the rack 9- open the tray 10- adjust the tray 11- put pen in tray 12- put pen in tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- adjust the pen in tray 17- close the tray 18- open the tray 19- put pen in tray 20- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put holder on table 6- open the right door 7- open left door 8- put holder in the rack 9- open the tray 10- adjust the tray 11- put pen in tray 12- put pen in tray 13- put pen in tray 14- put pen in tray 15- put pen in tray 16- adjust the pen in tray 17- close the tray 18- open the tray 19- put pen in tray 20- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- put pen in tray 4- adjust the holder 5- close the tray\n\u003c/PRED\u003e","video":"1097870605247529650.mp4"}
+{"uid":"3313411437347709463","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- put pen in tray 4- put pen in tray 5- adjust the pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray 16- put pen in tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11222378872212124036.mp4"}
+{"uid":"9035512201290057546","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in tray 2- put pen in tray 3- put pen in tray 4- put pen in tray 5- put pen in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder 8- put pen in holder 9- put pen in holder 10- put holder on table 11- open the right door 12- open left door 13- put holder in the rack 14- open the tray 15- adjust the tray Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen 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: put pen in tray\n\u003c/PRED\u003e","video":"9907717634262393174.mp4"}
+{"uid":"3081143262490415118","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate 4- place orange on the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the plate 2- place orange on the plate 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate. last 20 steps: 1- place banana on the plate 2- place banana on the plate 3- place banana on the plate 4- place orange on the plate Q: immediate next step? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 bananas and 3 oranges onto a plate Q: immediate next step? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the plate\n\u003c/PRED\u003e","video":"16499742108169184539.mp4"}
+{"uid":"1207621164034754506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput beans in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10600664878237588304.mp4"}
+{"uid":"1684945618142223312","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put holder on table 4- open the right door 5- open left door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder 6- put pen in holder 7- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"9159896758717722052.mp4"}
+{"uid":"8674481101151761503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on 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":"16716476632651913572.mp4"}
+{"uid":"17119758950830552281","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder 5- put pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet. last 20 steps: 1- put pen in holder 2- put pen in holder 3- put pen in holder 4- put pen in holder Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve made a mess of the pens and pencils on his desk, please gather them into the mesh container and return them to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: put pen in holder\n\u003c/PRED\u003e","video":"4325032744219003284.mp4"}
+{"uid":"7184442709271909756","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- Put the can on the table 3- put redbull can on table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e","video":"9502648471381539254.mp4"}
+{"uid":"12790824368549656188","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":"18249044699144921962.mp4"}
+{"uid":"18193838956945042770","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted can upright 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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table 9- Put the tilted can upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tilted can upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table 9- Put the tilted can upright on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4846477253725743190.mp4"}
+{"uid":"9217569532859336245","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: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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put can on the table 3- Put the can on the table 4- Put the tilted can upright on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"8415632043001554475.mp4"}
+{"uid":"3618900402125835582","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3573365285984042631.mp4"}
+{"uid":"16578419334494379319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the strainer into the third from the left 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":"6346512717793092973.mp4"}
+{"uid":"3752527231704253540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1969781266771094930.mp4"}
+{"uid":"12733830383709683466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glasses 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":"4111638542592826519.mp4"}
+{"uid":"11337414332320124274","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- put redbull can on table 3- put can on the table 4- Put the can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"14314691775960823060.mp4"}
+{"uid":"17027086140696043215","text":"\u003ctask:success:discrete:True\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"8528309988237389315.mp4"}
+{"uid":"5820716345097094048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown colour 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":"2458349411127788845.mp4"}
+{"uid":"82793163062902127","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- Put the can on the table 3- Put the tilted can upright on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"15937697073163836641.mp4"}
+{"uid":"9464688486172180569","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":"6047069222393490316.mp4"}
+{"uid":"468836550555068416","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- put redbull can on table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"2382850680525081629.mp4"}
+{"uid":"2633150926780519963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet to the left on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2320053623864987329.mp4"}
+{"uid":"236735735439289595","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cloth on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 cloth on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cloth on the table 2- close the drawer 3- clean the table with the cloth 4- put the cloth in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cloth on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9011852451289321933.mp4"}
+{"uid":"17653789444887134838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup under 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":"18156913098466317092.mp4"}
+{"uid":"17080104742717340055","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put 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: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":"499794008481851502.mp4"}
+{"uid":"14045824261330890924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput circle in the drawer set Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13595221603593863121.mp4"}
+{"uid":"14357460641773465163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue colour 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":"14234269583962728676.mp4"}
+{"uid":"11488870678190979792","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":"11077323701187008540.mp4"}
+{"uid":"4988596321325768225","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put can on the table 3- Put the can on the table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"4829851091469942653.mp4"}
+{"uid":"17876017231710876759","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":"12394971050774760361.mp4"}
+{"uid":"10894799604973616898","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- clean the table with the cloth 3- put the cloth in the basket 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 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:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9136999763700090026.mp4"}
+{"uid":"7716510887667618867","text":"\u003ctask:success:discrete:True\u003e\nplace the cloth 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 cloth on the table\n\u003c/PRED\u003e","video":"2462422986521386087.mp4"}
+{"uid":"14662020156754353669","text":"\u003ctask:success:discrete:True\u003e\nput redbull can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can upright\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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table 9- put redbull can upright 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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table 9- put redbull can upright Q: next 5 steps? \u003cPRED\u003eA: 1- 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: done\n\u003c/PRED\u003e","video":"6024862735151940093.mp4"}
+{"uid":"11706760201236393628","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":"15056457150774718333.mp4"}
+{"uid":"17560166601686768064","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":"10675322485814136238.mp4"}
+{"uid":"11272804911738688731","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put 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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the tilted can upright 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:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"6861415421460517354.mp4"}
+{"uid":"17794071750043384407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14373867722917691521.mp4"}
+{"uid":"18167171593927202708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the duck toy in the center 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":"5746313555837150867.mp4"}
+{"uid":"14429314872444088344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15533506328026546270.mp4"}
+{"uid":"2846716914692532049","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: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 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 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 can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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":"13835172242662074806.mp4"}
+{"uid":"10228449290578390631","text":"\u003ctask:success:discrete:True\u003e\nclean the table with the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e","video":"316987359932170921.mp4"}
+{"uid":"3756290181376636987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"15261734391830813436.mp4"}
+{"uid":"8981028000526931200","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- close the drawer 4- clean the table with the cloth Q: immediate next step? \u003cPRED\u003eA: put the cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- close the drawer 4- clean the table with the cloth Q: next 5 steps? \u003cPRED\u003eA: 1- put the cloth in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cloth 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: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: put the cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cloth in the basket\n\u003c/PRED\u003e","video":"3730534239096077725.mp4"}
+{"uid":"16085483023951283555","text":"\u003ctask:success:discrete:False\u003e\nclean the table with the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table with the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table with the cloth 2- put the cloth in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e","video":"8393461295842458261.mp4"}
+{"uid":"10925088803986067501","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- put redbull can on table 4- put 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"1463935898869854651.mp4"}
+{"uid":"2192489050551584363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6746905184563778459.mp4"}
+{"uid":"16848424433119320543","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":"14599892906136671040.mp4"}
+{"uid":"999345684531775200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"14154719904476303748.mp4"}
+{"uid":"11881182923201639513","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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- put can on the table 4- Put the can on the table 5- Put the tilted can upright 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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"4217483333638332827.mp4"}
+{"uid":"5597656375690500773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink candy 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":"5702312859119862386.mp4"}
+{"uid":"14641138560991403706","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":"2000619159475120257.mp4"}
+{"uid":"14222135202531603853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"16747839478431546860.mp4"}
+{"uid":"15231308332689704450","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor 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: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: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the cloth on the table 3- close the drawer 4- clean the table with the cloth 5- put the cloth in the basket\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":"15252422142768591971.mp4"}
+{"uid":"3692495367915644074","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- Put the can on the table 3- put can on the table 4- Put the can on the table 5- Put the tilted can upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"96275527008226825.mp4"}
+{"uid":"8347798411161999566","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 the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- Put the can on the table 4- put 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 can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put 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":"5222337857943345799.mp4"}
+{"uid":"6174289544217884298","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- put can on the table 3- Put the can on the table 4- put can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"12332457676266904184.mp4"}
+{"uid":"1748357738739328343","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":"13035471197185760236.mp4"}
+{"uid":"7134250572040276724","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 the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the tilted can upright on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"8823501542983143753.mp4"}
+{"uid":"16597704064625322800","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 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 the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- 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 the can on the table 4- Put the tilted can upright on the table 5- done\n\u003c/PRED\u003e","video":"14495826794798681274.mp4"}
+{"uid":"10654707498654184821","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- Put the can on the table 2- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put redbull can on table 3- put can on the table 4- Put the can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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","video":"6916973523749883446.mp4"}
+{"uid":"13039355457659944497","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted can upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted can upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the tilted can upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted can upright 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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted can upright on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted can upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the tilted can upright on the table\n\u003c/PRED\u003e","video":"6096019992062247283.mp4"}
+{"uid":"12925090700696218456","text":"\u003ctask:success:discrete:True\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"11954683032447642696.mp4"}
+{"uid":"18157164452941231570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the top strainer from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9917659123749438621.mp4"}
+{"uid":"13005257957567527670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the 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 the red bull 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- Put the tilted can upright on the table 4- done\n\u003c/PRED\u003e","video":"2664256179115918989.mp4"}
+{"uid":"17835652108729768636","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":"13277936287630112026.mp4"}
+{"uid":"14728849663171051059","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- Put the tilted can upright 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 redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"15913464975429824439.mp4"}
+{"uid":"8880031621641135271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the left 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":"14903188833504731033.mp4"}
+{"uid":"5663800271521787322","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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- Put the tilted can upright on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"10649172784298882049.mp4"}
+{"uid":"16484476750376923411","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the 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 the red bull from the tray 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 the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put redbull can on table 3- put can on the table 4- Put the can on the table 5- 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","video":"5265153966036741420.mp4"}
+{"uid":"1652295868666891447","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":"13106312020301684628.mp4"}
+{"uid":"5751134293057254998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the glass 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":"12659091320344768380.mp4"}
+{"uid":"16958683268070358566","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can upright 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can upright\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- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table 6- Put the can on the table 7- put can on the table 8- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can upright\n\u003c/PRED\u003e","video":"3302976516693340341.mp4"}
+{"uid":"3048214688189348186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"14346465072978760153.mp4"}
+{"uid":"2154393192081404591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the waste material 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":"9981162701604217717.mp4"}
+{"uid":"1202714154894320547","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- put can on the table 3- Put the can on the table 4- Put the tilted can upright on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16654630175314576279.mp4"}
+{"uid":"12232357222967889825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4999648963284822203.mp4"}
+{"uid":"4120841814936895143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10385363272065561845.mp4"}
+{"uid":"14447443263701065084","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- close the drawer 4- clean the table with the cloth 5- put the cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- close the drawer 4- clean the table with the cloth 5- put the cloth in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cloth 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":"13448482343063501514.mp4"}
+{"uid":"18064497458792036235","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- Put the can on the table 3- put can on the table 4- Put the can on the table 5- Put the tilted can upright 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Put the can on the table 2- Put the can on the table 3- Put the can on the table 4- put redbull can on table 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","video":"18420705248831208340.mp4"}