diff --git "a/json/train/data-00024-of-00160.json" "b/json/train/data-00024-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00024-of-00160.json"
@@ -0,0 +1,1771 @@
+{"uid":"9796192083035053671","text":"\u003ctask:success:discrete:True\u003e\nGrasp the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the bottle\n\u003c/PRED\u003e","video":"17369455793492581997.mp4"}
+{"uid":"3634092770226393664","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the marker 2- Place the marker on the table 3- Drag the tray to the right 4- Pick up the toy red chilli from the tray 5- Place the red chilli on the table\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16350154736055061366.mp4"}
+{"uid":"12352238704659774318","text":"\u003ctask:success:discrete:True\u003e\nLift the brush from the green 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: Lift the brush from the green tray\n\u003c/PRED\u003e","video":"18283214096515815853.mp4"}
+{"uid":"3564456046332928108","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cloth from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cloth from the tray 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e","video":"14235022126216585551.mp4"}
+{"uid":"15612186628515058339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace orange inside the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"412034257984335662.mp4"}
+{"uid":"6332552737532727503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a wet wipe from the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8605724805934421738.mp4"}
+{"uid":"3172991874425962316","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cloth from the tray 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cloth from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cloth from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cloth from the tray\n\u003c/PRED\u003e","video":"13090308493150122534.mp4"}
+{"uid":"15940182820168219804","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":"18115633781136634203.mp4"}
+{"uid":"4028056887306605334","text":"\u003ctask:success:discrete:True\u003e\nplace the green cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green cup on the table\n\u003c/PRED\u003e","video":"17795841818043306437.mp4"}
+{"uid":"1262303404152761635","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 brush on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray\n\u003c/PRED\u003e","video":"6101972463840059530.mp4"}
+{"uid":"11607893429114895602","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":"9718489790215136137.mp4"}
+{"uid":"14328959241933299924","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the cloth 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":"10609057724324998313.mp4"}
+{"uid":"16925824540071218816","text":"\u003ctask:success:discrete:False\u003e\nGrab the bottle 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: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the bottle in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the bottle in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab the bottle in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the bottle in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the bottle 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: empty green bin onto the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the bottle in the tray 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e","video":"4356022050489967768.mp4"}
+{"uid":"3924220220579315370","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the scrub on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: immediate next step? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the scrub on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 scrub on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the scrub on the table 2- Pick the duster from the green tray 3- drop the duster on the table 4- pick the toy carrot from the tray 5- Place the toy carrot on the table\n\u003c/PRED\u003e","video":"17104044110836394144.mp4"}
+{"uid":"2551941199287747075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow chip 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":"18313167619479215940.mp4"}
+{"uid":"1812064219500943249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4286614866351083955.mp4"}
+{"uid":"7107849978556978002","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the duster from  the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the duster from  the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the duster from  the tray 2- Grab the marker from the tray 3- Pick up the marker 4- Place the marker on the table 5- Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: immediate next step? \u003cPRED\u003eA: pick the duster from  the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the duster from  the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the duster from  the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the duster from  the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17527896252637441511.mp4"}
+{"uid":"17509561290641669242","text":"\u003ctask:success:discrete:True\u003e\nGrab the white bottle from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the white bottle from the tray\n\u003c/PRED\u003e","video":"249691026537063225.mp4"}
+{"uid":"10342720512204856448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2746438350251823681.mp4"}
+{"uid":"9522154435042124088","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the toy chilli from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the toy chilli from the tray 2- Move your arm forward 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the toy chilli from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the toy chilli from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the toy chilli from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: immediate next step? \u003cPRED\u003eA: pick the toy chilli from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the toy chilli from the tray\n\u003c/PRED\u003e","video":"6523729586775794158.mp4"}
+{"uid":"16491287174486619994","text":"\u003ctask:success:discrete:False\u003e\nMove towards the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the brush\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: immediate next step? \u003cPRED\u003eA: Move towards the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the brush 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13043915477603651534.mp4"}
+{"uid":"2170304918920278300","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy carrot on the table 2- Lift the duster from the green tray 3- Place the duster on the table 4- Grab the marker from the tray 5- Pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e","video":"390302193022601638.mp4"}
+{"uid":"3794254599760425683","text":"\u003ctask:success:discrete:False\u003e\nGrab the brush from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the brush from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the brush from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the brush from the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the brush from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the brush from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Grab the brush from the tray\n\u003c/PRED\u003e","video":"5398662559503425654.mp4"}
+{"uid":"13064088548276470526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7901550485038912440.mp4"}
+{"uid":"51524947099382261","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":"9168696573999240989.mp4"}
+{"uid":"17200209135553930069","text":"\u003ctask:success:discrete:False\u003e\nPick up the bottle from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottle from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottle from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottle from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottle from the tray 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle from the tray\n\u003c/PRED\u003e","video":"1362323685817164040.mp4"}
+{"uid":"2869866391885391199","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup Q: immediate next step? \u003cPRED\u003eA: Move towards the cloth\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cloth 2- Place the cloth on the table 3- Pick up the scrub from the tray 4- drop the scrub on the table 5- Pick the duster from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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:affordance:discriminative:discrete:True\u003e\nMove towards 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: Move towards the cloth\n\u003c/PRED\u003e","video":"4688094259607306739.mp4"}
+{"uid":"12196839482782081397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a original redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18025350758391543403.mp4"}
+{"uid":"12858793233281388540","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brush 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3173840490772628969.mp4"}
+{"uid":"5907112995003273131","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the white bottle from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the white bottle from the tray 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: Grab the white bottle from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the white bottle from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the white bottle from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the white bottle from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the white bottle from the tray\n\u003c/PRED\u003e","video":"10549040762586610190.mp4"}
+{"uid":"552403505543863997","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Release the white bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: immediate next step? \u003cPRED\u003eA: Release the white bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the white bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Release the white bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the white bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the white bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the white bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13645152876823625729.mp4"}
+{"uid":"14445087719717263664","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the tray slightly to the right on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the tray slightly to the right on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: immediate next step? \u003cPRED\u003eA: Drag the tray slightly to the right on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drag the tray slightly to the right on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the tray slightly to the right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the tray slightly to the right on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the tray slightly to the right on the table 2- Pick up the toy red chilli from the tray 3- Place the red chilli on the table 4- Move your arm forward 5- done\n\u003c/PRED\u003e","video":"7217712357192295979.mp4"}
+{"uid":"11202045174219620477","text":"\u003ctask:success:discrete:True\u003e\nPick up the bottle from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottle from the tray\n\u003c/PRED\u003e","video":"12362719583702319973.mp4"}
+{"uid":"8812555557419262508","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":"11560508528077971896.mp4"}
+{"uid":"1110727022681388566","text":"\u003ctask:success:discrete:True\u003e\nPlace the toy chilli on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Drop the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray 6- Place the cloth on the table 7- Pick up the scrub from the tray 8- drop the scrub on the table 9- Pick the duster from the green tray 10- drop the duster on the table 11- pick the toy carrot from the tray 12- Place the toy carrot on the table 13- Lift the duster from the green tray 14- Place the duster on the table 15- Grab the marker from the tray 16- Pick up the marker 17- Place the marker on the table 18- Drag the tray to the right 19- Pick up the toy red chilli from the tray 20- Place the toy chilli 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 toy chilli on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Drop the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray 6- Place the cloth on the table 7- Pick up the scrub from the tray 8- drop the scrub on the table 9- Pick the duster from the green tray 10- drop the duster on the table 11- pick the toy carrot from the tray 12- Place the toy carrot on the table 13- Lift the duster from the green tray 14- Place the duster on the table 15- Grab the marker from the tray 16- Pick up the marker 17- Place the marker on the table 18- Drag the tray to the right 19- Pick up the toy red chilli from the tray 20- Place the toy chilli on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2081169043615479168.mp4"}
+{"uid":"8386082612254567383","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the blue marker from the green tray 2- Place the marker on the table 3- Drag the tray to the right 4- Pick up the toy red chilli from the tray 5- Place the red chilli on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: immediate next step? \u003cPRED\u003eA: Lift the blue marker from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the blue marker from the green 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\nLift the blue marker from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the blue marker from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the blue marker from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Lift the blue marker from the green tray\n\u003c/PRED\u003e","video":"6440213906188892881.mp4"}
+{"uid":"7329177051598649473","text":"\u003ctask:success:discrete:True\u003e\nPlace the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 duster on the table\n\u003c/PRED\u003e","video":"7066113036077036609.mp4"}
+{"uid":"113915042096151740","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy red chilli\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy red chilli 2- Move your arm forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy red chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy red chilli\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: place the toy red chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy red chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: immediate next step? \u003cPRED\u003eA: place the toy red chilli\n\u003c/PRED\u003e","video":"9591759939971111208.mp4"}
+{"uid":"16267893729467292414","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the duster from the tray 2- pick the toy carrot from the tray 3- Place the toy carrot on the table 4- Lift the duster from the green tray 5- Place the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the duster from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e","video":"16745755823314567170.mp4"}
+{"uid":"1976979195414690367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box 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":"278355160122670436.mp4"}
+{"uid":"4557161949813293931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7835837257701714660.mp4"}
+{"uid":"5598861791508986980","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy chilli 2- Move your arm forward 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy chilli\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy chilli\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy chilli\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the toy chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17570726915819078830.mp4"}
+{"uid":"6561162658297625943","text":"\u003ctask:success:discrete:False\u003e\nPick up the carrot from the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the carrot from the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the carrot from the green tray 2- Place the toy carrot on the table 3- Lift the duster from the green tray 4- Place the duster on the table 5- Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Pick up the carrot from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the carrot from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the carrot from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the carrot from the green tray\n\u003c/PRED\u003e","video":"18049399726525003596.mp4"}
+{"uid":"2748959868678671607","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brush from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brush from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brush from the tray 2- drop the duster on the table 3- pick the toy carrot from the tray 4- Place the toy carrot on the table 5- Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the brush from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brush from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: immediate next step? \u003cPRED\u003eA: pick the brush from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brush from the tray\n\u003c/PRED\u003e","video":"7795997598814474582.mp4"}
+{"uid":"5316785293886065706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the facial tissue 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":"8645526757258869759.mp4"}
+{"uid":"1738329505232284004","text":"\u003ctask:success:discrete:True\u003e\nMove towards the white 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: Move towards the white bottle\n\u003c/PRED\u003e","video":"15566570569960653810.mp4"}
+{"uid":"2900086897242726089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3843619330556203450.mp4"}
+{"uid":"5751266584803753249","text":"\u003ctask:success:discrete:False\u003e\nPlace the toy chilli on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy chilli on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy chilli on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: immediate next step? \u003cPRED\u003eA: Place the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy chilli on the table 2- done\n\u003c/PRED\u003e","video":"5990037254632201062.mp4"}
+{"uid":"15404637102461585528","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cup on the table 2- Grab the cloth in the tray 3- Place the cloth on the table 4- Pick up the scrub from the tray 5- drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: immediate next step? \u003cPRED\u003eA: Place the green cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the green cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green cup on the table\n\u003c/PRED\u003e","video":"9970736316680438357.mp4"}
+{"uid":"11360415470186323906","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table Q: immediate next step? \u003cPRED\u003eA: Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the green glass from the tray 2- place the green cup on the table 3- Grab the cloth in the tray 4- Place the cloth on the table 5- Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the green glass from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the green glass from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6418054087722331295.mp4"}
+{"uid":"9252831080785458649","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the scrub on the table 2- Pick the duster from the green tray 3- drop the duster on the table 4- pick the toy carrot from the tray 5- Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the scrub on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 scrub on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: immediate next step? \u003cPRED\u003eA: Place the scrub on the table\n\u003c/PRED\u003e","video":"4864234763656454834.mp4"}
+{"uid":"16291899897808545082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace sticky notes inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16538230632101627871.mp4"}
+{"uid":"3112943000316322873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14976695719561160431.mp4"}
+{"uid":"3706266491257724375","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle on the table 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: immediate next step? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e","video":"6052474944979132779.mp4"}
+{"uid":"1277214448998463031","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray Q: immediate next step? \u003cPRED\u003eA: Drop the  white bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the  white bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the  white bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the  white bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the  white bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the  white bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the  white bottle on the table\n\u003c/PRED\u003e","video":"10438864629395432162.mp4"}
+{"uid":"2304028708387021915","text":"\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: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the cloth on the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cloth on the table 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: Place the cloth on the table\n\u003c/PRED\u003e","video":"6328184888234273996.mp4"}
+{"uid":"15234772951507896865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pens 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":"14326246640314342147.mp4"}
+{"uid":"15243211095366891432","text":"\u003ctask:success:discrete:True\u003e\nPick up the duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e","video":"8389766014885314168.mp4"}
+{"uid":"8754497726358938064","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the top duster from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the top duster from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the top duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the top duster from the tray 2- drop the duster on the table 3- pick the toy carrot from the tray 4- Place the toy carrot on the table 5- Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the top duster from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the top duster from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the top duster from the tray\n\u003c/PRED\u003e","video":"6348407879935211045.mp4"}
+{"uid":"2102803232748333206","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":"11273150808180998123.mp4"}
+{"uid":"808194231373563560","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":"18199447912410303759.mp4"}
+{"uid":"337627306599341780","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":"12042710073348003783.mp4"}
+{"uid":"17007070842069943712","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker from the tray 2- Place the marker on the table 3- Drag the tray to the right 4- Pick up the toy red chilli from the tray 5- Place the red chilli on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: immediate next step? \u003cPRED\u003eA: pick the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10319291729977289136.mp4"}
+{"uid":"3701583896749745598","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4423847667847495984.mp4"}
+{"uid":"9706301464084087617","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the duster on the table 2- pick the toy carrot from the tray 3- Place the toy carrot on the table 4- Lift the duster from the green tray 5- Place the duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e","video":"13698020103183325214.mp4"}
+{"uid":"5855049390561350847","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green glass from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green glass from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green glass from the tray 2- place the green cup on the table 3- Grab the cloth in the tray 4- Place the cloth on the table 5- Pick up the scrub from the tray\n\u003c/PRED\u003e","video":"1715291417108987073.mp4"}
+{"uid":"15153079227376052156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver 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":"12710897207470061773.mp4"}
+{"uid":"2096873810607317637","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: immediate next step? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3304893420462395230.mp4"}
+{"uid":"3828412602458401260","text":"\u003ctask:success:discrete:False\u003e\nPlace the red chilli on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red chilli on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red chilli on the table 2- Move your arm forward 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the red chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red chilli on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red chilli on the table\n\u003c/PRED\u003e","video":"6640860899738814615.mp4"}
+{"uid":"13007485709991785468","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray Q: immediate next step? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle on the table\n\u003c/PRED\u003e","video":"8522264965692780066.mp4"}
+{"uid":"941204798618271708","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":"17101058859649290067.mp4"}
+{"uid":"755819308363772155","text":"\u003ctask:success:discrete:False\u003e\nDrop the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Drop the duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the duster on the table 2- Place the toy carrot on the table 3- Lift the duster from the green tray 4- Place the duster on the table 5- Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the duster on the table\n\u003c/PRED\u003e","video":"5025577141483704069.mp4"}
+{"uid":"10696263954249706161","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":"16113971346286368194.mp4"}
+{"uid":"9817986623722121697","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the toy chilli from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the toy chilli from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12666533259437751587.mp4"}
+{"uid":"5054586923406645614","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scrub on the table 2- drop the duster on the table 3- pick the toy carrot from the tray 4- Place the toy carrot on the table 5- Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the scrub on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 scrub on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: immediate next step? \u003cPRED\u003eA: drop the scrub on the table\n\u003c/PRED\u003e","video":"6518431529036013522.mp4"}
+{"uid":"16056862389320528836","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brush from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brush from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brush from the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brush from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brush from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brush from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brush from the tray\n\u003c/PRED\u003e","video":"564955917061313585.mp4"}
+{"uid":"16892501611781813795","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the top duster from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the top duster from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: immediate next step? \u003cPRED\u003eA: lift the top duster from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the top duster from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the top duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: lift the top duster from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: next 5 steps? \u003cPRED\u003eA: 1- lift the top duster from the tray 2- Place the duster on the table 3- Grab the marker from the tray 4- Pick up the marker 5- Place the marker on the table\n\u003c/PRED\u003e","video":"8665145748612245057.mp4"}
+{"uid":"1973513329663467114","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green glass from the tray 2- place the green cup on the table 3- Grab the cloth in the tray 4- Place the cloth on the table 5- Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green glass from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green glass from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the green glass from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table Q: immediate next step? \u003cPRED\u003eA: pick the green glass from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green glass from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green glass from the tray\n\u003c/PRED\u003e","video":"16379925257784362158.mp4"}
+{"uid":"15485493564555724653","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":"4437607843847481023.mp4"}
+{"uid":"14288395272791175451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"3188003413343870069.mp4"}
+{"uid":"1543940299192923947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the scrub from the tray 2- drop the scrub on the table 3- Pick the duster from the green tray 4- drop the duster on the table 5- pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the scrub from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e","video":"10178338739414790930.mp4"}
+{"uid":"952148305280750453","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":"7468312861943014714.mp4"}
+{"uid":"18189278614089986148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cardboard piece Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17219919355688436164.mp4"}
+{"uid":"6994012966984433579","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green glass on the table 2- Grab the cloth in the tray 3- Place the cloth on the table 4- Pick up the scrub from the tray 5- drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e","video":"4114730195086568012.mp4"}
+{"uid":"9765289956955910926","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":"16792749432760067040.mp4"}
+{"uid":"18359205930343769213","text":"\u003ctask:success:discrete:True\u003e\nMove towards 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: Move towards the cloth\n\u003c/PRED\u003e","video":"12674389763348939761.mp4"}
+{"uid":"10238414563194632778","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":"8425579340484188123.mp4"}
+{"uid":"11268724858238358474","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Drop the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray 6- Place the cloth on the table 7- Pick up the scrub from the tray 8- drop the scrub on the table 9- Pick the duster from the green tray 10- drop the duster on the table 11- pick the toy carrot from the tray 12- Place the toy carrot on the table 13- Lift the duster from the green tray 14- Place the duster on the table 15- Grab the marker from the tray 16- Pick up the marker 17- Place the marker on the table 18- Drag the tray to the right 19- Pick up the toy red chilli from the tray 20- Place the red chilli on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm forward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Drop the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray 6- Place the cloth on the table 7- Pick up the scrub from the tray 8- drop the scrub on the table 9- Pick the duster from the green tray 10- drop the duster on the table 11- pick the toy carrot from the tray 12- Place the toy carrot on the table 13- Lift the duster from the green tray 14- Place the duster on the table 15- Grab the marker from the tray 16- Pick up the marker 17- Place the marker on the table 18- Drag the tray to the right 19- Pick up the toy red chilli from the tray 20- Place the red chilli on the table Q: immediate next step? \u003cPRED\u003eA: Move your arm forward\n\u003c/PRED\u003e","video":"2982378098317150653.mp4"}
+{"uid":"2465359576053350344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the smart 50 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":"3904080449563650858.mp4"}
+{"uid":"18325281180332710827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue box 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\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":"17245432476555421379.mp4"}
+{"uid":"7413603522933776017","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the duster on the table 2- Grab the marker from the tray 3- Pick up the marker 4- Place the marker on the table 5- Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e","video":"12462785085274923385.mp4"}
+{"uid":"13518301817204489959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14860127914285111299.mp4"}
+{"uid":"3548958942815118012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7293361084155651935.mp4"}
+{"uid":"14126594390947422497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"972491684109709546.mp4"}
+{"uid":"14042748634752197288","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy carrot on the table 2- Place the duster on the table 3- Grab the marker from the tray 4- Pick up the marker 5- Place the marker on the table\n\u003c/PRED\u003e","video":"14069202603853749065.mp4"}
+{"uid":"18679980306020950","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy carrot on the table 2- Place the duster on the table 3- Grab the marker from the tray 4- Pick up the marker 5- 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: drop the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray Q: immediate next step? \u003cPRED\u003eA: drop the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy carrot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4182091328083761915.mp4"}
+{"uid":"16550055748777177962","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the duster 2- drop the duster on the table 3- pick the toy carrot from the tray 4- Place the toy carrot on the table 5- Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: immediate next step? \u003cPRED\u003eA: Move towards the duster\n\u003c/PRED\u003e","video":"15095546972719581989.mp4"}
+{"uid":"1357467705554265808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sachet in the top left of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5161281052554026316.mp4"}
+{"uid":"17382625626326784971","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Release the duster on the table 2- pick the toy carrot from the tray 3- Place the toy carrot on the table 4- Lift the duster from the green tray 5- Place the duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the duster on the table 2- pick the toy carrot from the tray 3- Place the toy carrot on the table 4- Lift the duster from the green tray 5- Place the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the duster on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Release the duster on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Release the duster on the table\n\u003c/PRED\u003e","video":"11297571521795070937.mp4"}
+{"uid":"12156942243939029296","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":"11426375139260150563.mp4"}
+{"uid":"4719373906961220329","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":"1915848513468730438.mp4"}
+{"uid":"6264103279072470351","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8959350534531121078.mp4"}
+{"uid":"18016066737042202258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon 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":"8849142573210611333.mp4"}
+{"uid":"5963405040108686675","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brush on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: drop the brush on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the brush on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7656249159180170862.mp4"}
+{"uid":"16790820371337634339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"13353861345127614312.mp4"}
+{"uid":"7593260745298264335","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":"10909665691534322277.mp4"}
+{"uid":"10408825607011175027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16408270615604114611.mp4"}
+{"uid":"3729173563300550542","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16667109521743362519.mp4"}
+{"uid":"3962493483249399266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange 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":"9518055957628365850.mp4"}
+{"uid":"10934064135938649695","text":"\u003ctask:success:discrete:True\u003e\nPlace the toy carrot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 toy carrot on the table\n\u003c/PRED\u003e","video":"8239203421423056215.mp4"}
+{"uid":"7378878169777425023","text":"\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:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Grab the white bottle from the tray 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table 6- Move towards the green glass from the tray 7- pick up the green cup 8- place the green cup on the table 9- Grab the cloth in the tray 10- Place the cloth on the table 11- Pick up the scrub from the tray 12- drop the scrub on the table 13- Pick the duster from the green tray 14- drop the duster on the table 15- pick the toy carrot from the tray 16- Place the toy carrot on the table 17- Lift the duster from the green tray 18- Place the duster on the table 19- Grab the marker from the tray 20- Pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- Place the marker on the table 2- Drag the tray to the right 3- Pick up the toy red chilli from the tray 4- Place the red chilli on the table 5- Move your arm forward\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Grab the white bottle from the tray 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table 6- Move towards the green glass from the tray 7- pick up the green cup 8- place the green cup on the table 9- Grab the cloth in the tray 10- Place the cloth on the table 11- Pick up the scrub from the tray 12- drop the scrub on the table 13- Pick the duster from the green tray 14- drop the duster on the table 15- pick the toy carrot from the tray 16- Place the toy carrot on the table 17- Lift the duster from the green tray 18- Place the duster on the table 19- Grab the marker from the tray 20- Pick up the marker Q: immediate next step? \u003cPRED\u003eA: Place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the marker on the table\n\u003c/PRED\u003e","video":"15655489415089113460.mp4"}
+{"uid":"7048269089504834173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2721953300800532704.mp4"}
+{"uid":"8757543039019116871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1455856049002172357.mp4"}
+{"uid":"4783315736613038193","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: immediate next step? \u003cPRED\u003eA: Grab the brush in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the brush in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the brush 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: Grab the brush in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the brush in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the brush 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":"15299512424301383554.mp4"}
+{"uid":"3013352250604642109","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":"5669549782059829285.mp4"}
+{"uid":"9885635335824326124","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brush in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brush in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brush in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the brush in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brush 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\nPick up the brush 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":"10120700126409137278.mp4"}
+{"uid":"524043203293962951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate candy on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"27420235400828121.mp4"}
+{"uid":"10650438648564012286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the yellow marker tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7850581427639653528.mp4"}
+{"uid":"10133329326457483140","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the scrub from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4629177959350741636.mp4"}
+{"uid":"6569281704050853237","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the bottle in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the bottle in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2160621486172965795.mp4"}
+{"uid":"5253948417874017138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17295933281134122050.mp4"}
+{"uid":"9502880111545991645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Pen Stand on the shelf of cup 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":"5088088331532767106.mp4"}
+{"uid":"10176907416906136298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"14614253955571823392.mp4"}
+{"uid":"16997266600790377718","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the green cup from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green cup from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green cup from the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green cup from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green cup from the green tray 2- place the green cup on the table 3- Grab the cloth in the tray 4- Place the cloth on the table 5- Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green cup from the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the green cup from the green tray\n\u003c/PRED\u003e","video":"1033111364648118342.mp4"}
+{"uid":"24879143428566522","text":"\u003ctask:success:discrete:True\u003e\ndrop the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 duster on the table\n\u003c/PRED\u003e","video":"17206566900027893118.mp4"}
+{"uid":"9665368301660412306","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the carrot on the table 2- Lift the duster from the green tray 3- Place the duster on the table 4- Grab the marker from the tray 5- Pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Put the carrot on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the carrot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: immediate next step? \u003cPRED\u003eA: Put the carrot on the table\n\u003c/PRED\u003e","video":"10089047340771208700.mp4"}
+{"uid":"14582094349162774665","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the duster 2- pick the toy carrot from the tray 3- Place the toy carrot on the table 4- Lift the duster from the green tray 5- Place the duster on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e","video":"12685003684598852588.mp4"}
+{"uid":"12482164105580327637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the juice bottle 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":"5496952875458476601.mp4"}
+{"uid":"888753664647431266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"9482289217528609175.mp4"}
+{"uid":"444950558058750607","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue object on the table 2- Pick up the toy red chilli from the tray 3- Place the red chilli on the table 4- Move your arm forward 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16270608059587208500.mp4"}
+{"uid":"806554340075040551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18014886018212394058.mp4"}
+{"uid":"6605979370752645124","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the toy chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the toy chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11882428090787282047.mp4"}
+{"uid":"7587395281480129337","text":"\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:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the cloth on the table\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cloth on the table 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e","video":"4006369881503543310.mp4"}
+{"uid":"6890412942780490161","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the duster on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Drop the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the duster on the table 2- Grab the marker from the tray 3- Pick up the marker 4- Place the marker on the table 5- Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the duster on the table\n\u003c/PRED\u003e","video":"14381382873781554545.mp4"}
+{"uid":"11668161773556429561","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the brush in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the brush 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":"11651555065106989948.mp4"}
+{"uid":"17622221902241435237","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7992546895249323957.mp4"}
+{"uid":"752146909024694677","text":"\u003ctask:success:discrete:False\u003e\nMove towards the scrub from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the scrub from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the scrub from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the scrub from the tray 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the scrub from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: Move towards the scrub from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the scrub from the tray\n\u003c/PRED\u003e","video":"8525841511279771282.mp4"}
+{"uid":"18134880200142041431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14444631247869119811.mp4"}
+{"uid":"8244614469936616916","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy carrot on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy carrot on the table 2- Place the duster on the table 3- Grab the marker from the tray 4- Pick up the marker 5- Place the marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the toy carrot on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: immediate next step? \u003cPRED\u003eA: Place the toy carrot on the table\n\u003c/PRED\u003e","video":"2156896032801065831.mp4"}
+{"uid":"3606185151873284773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: pick the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brush 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 brush\n\u003c/PRED\u003e","video":"13645937653339450191.mp4"}
+{"uid":"1838635109000119892","text":"\u003ctask:success:discrete:True\u003e\ngrasp the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e","video":"1641390931885951723.mp4"}
+{"uid":"10419450718110456594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue marker from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11352275636055450085.mp4"}
+{"uid":"18001517197757359471","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the brush in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the brush 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":"10250279900033217330.mp4"}
+{"uid":"5651240506247379162","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":"6932163958641340442.mp4"}
+{"uid":"1206440941219516927","text":"\u003ctask:success:discrete:True\u003e\nMove towards the white bottle in the green 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: Move towards the white bottle in the green tray\n\u003c/PRED\u003e","video":"5909826880012973598.mp4"}
+{"uid":"15958278798848324566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14575950962216774624.mp4"}
+{"uid":"13637555564775806842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"17844511912853442510.mp4"}
+{"uid":"4047101744432355400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14917976743860413591.mp4"}
+{"uid":"3906856978175337705","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cloth 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: immediate next step? \u003cPRED\u003eA: pick the cloth\n\u003c/PRED\u003e","video":"12557022111162679990.mp4"}
+{"uid":"12920044632344914061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14294832254575618752.mp4"}
+{"uid":"3257489119505935059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5643776968008093203.mp4"}
+{"uid":"549529584652685878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6822297425162033624.mp4"}
+{"uid":"6518402394803918587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic 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":"5489639319651560523.mp4"}
+{"uid":"5642742233528583038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the transparent 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":"3839355816138630603.mp4"}
+{"uid":"17824578889475024168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11833490200045864319.mp4"}
+{"uid":"2670690703180863637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12528595658816477465.mp4"}
+{"uid":"14479635017181083714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11320450854109383242.mp4"}
+{"uid":"4441471636905111641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8697947488477437802.mp4"}
+{"uid":"785122050451518517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the red chilli from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the red chilli from the green 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":"8327158300092499363.mp4"}
+{"uid":"16517140211417703706","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue marker from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue marker from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker from the tray 2- Place the marker on the table 3- Drag the tray to the right 4- Pick up the toy red chilli from the tray 5- Place the red chilli on the table\n\u003c/PRED\u003e","video":"10429537875866436525.mp4"}
+{"uid":"13367843893201572095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize green sugar pouch in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15244114356881841602.mp4"}
+{"uid":"1640308909141971740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white object 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":"8060544818818549177.mp4"}
+{"uid":"16210827155813258350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper packets straight 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":"14489050949070684261.mp4"}
+{"uid":"9575428256983720887","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":"9196747338621911504.mp4"}
+{"uid":"13738383054915386212","text":"\u003ctask:success:discrete:False\u003e\nMove towards the white bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the white bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the white bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the white 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the white bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the white bottle\n\u003c/PRED\u003e","video":"17356738454878002712.mp4"}
+{"uid":"5116552846477553564","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the duster from the green 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":"12907195854441055476.mp4"}
+{"uid":"17484265949496710788","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Release the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the brush on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the brush on the table 2- Move towards the green glass from the tray 3- pick up the green cup 4- place the green cup on the table 5- Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: Release the brush on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the brush on the table\n\u003c/PRED\u003e","video":"12643811230212982188.mp4"}
+{"uid":"11131637272420932194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"256538070346964236.mp4"}
+{"uid":"13403956954331026745","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":"2312938976015939967.mp4"}
+{"uid":"14623140381536368381","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup 6- place the green cup on the table 7- Grab the cloth in the tray 8- Place the cloth on the table 9- Pick up the scrub from the tray 10- drop the scrub on the table 11- Pick the duster from the green tray 12- drop the duster on the table 13- pick the toy carrot from the tray 14- Place the toy carrot on the table 15- Lift the duster from the green tray 16- Place the duster on the table 17- Grab the marker from the tray 18- Pick up the marker 19- Place the marker on the table 20- Drag the tray to the right Q: immediate next step? \u003cPRED\u003eA: Pick up the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy red chilli from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup 6- place the green cup on the table 7- Grab the cloth in the tray 8- Place the cloth on the table 9- Pick up the scrub from the tray 10- drop the scrub on the table 11- Pick the duster from the green tray 12- drop the duster on the table 13- pick the toy carrot from the tray 14- Place the toy carrot on the table 15- Lift the duster from the green tray 16- Place the duster on the table 17- Grab the marker from the tray 18- Pick up the marker 19- Place the marker on the table 20- Drag the tray to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy red chilli from the tray 2- Place the red chilli on the table 3- Move your arm forward 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the toy red chilli from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17419826991929653361.mp4"}
+{"uid":"10488183880510342887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black  pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6826953753653882092.mp4"}
+{"uid":"7457804263432283513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14602354678489339000.mp4"}
+{"uid":"10974788876667872935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow chip 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":"17719965143658158907.mp4"}
+{"uid":"11517050750356983116","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup 6- place the green cup on the table 7- Grab the cloth in the tray 8- Place the cloth on the table 9- Pick up the scrub from the tray 10- drop the scrub on the table 11- Pick the duster from the green tray 12- drop the duster on the table 13- pick the toy carrot from the tray 14- Place the toy carrot on the table 15- Lift the duster from the green tray 16- Place the duster on the table 17- Grab the marker from the tray 18- Pick up the marker 19- Place the marker on the table 20- Drag the tray to the right Q: immediate next step? \u003cPRED\u003eA: Grab the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the toy red chilli from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the toy red chilli from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup 6- place the green cup on the table 7- Grab the cloth in the tray 8- Place the cloth on the table 9- Pick up the scrub from the tray 10- drop the scrub on the table 11- Pick the duster from the green tray 12- drop the duster on the table 13- pick the toy carrot from the tray 14- Place the toy carrot on the table 15- Lift the duster from the green tray 16- Place the duster on the table 17- Grab the marker from the tray 18- Pick up the marker 19- Place the marker on the table 20- Drag the tray to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the toy red chilli from the tray 2- Place the red chilli on the table 3- Move your arm forward 4- done\n\u003c/PRED\u003e","video":"16821239031060452803.mp4"}
+{"uid":"11656839455293088357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box of gunpowder green Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7080693231503429284.mp4"}
+{"uid":"12775371259578543776","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the scrub from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the scrub from the tray 2- drop the scrub on the table 3- Pick the duster from the green tray 4- drop the duster on the table 5- pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the scrub from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4186662976851619609.mp4"}
+{"uid":"10628539194898966402","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toy red chilli on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy red chilli on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the toy red chilli on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: immediate next step? \u003cPRED\u003eA: Place the toy red chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toy red chilli on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the toy red chilli on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toy red chilli on the table 2- Move your arm forward 3- done\n\u003c/PRED\u003e","video":"5084844739456249919.mp4"}
+{"uid":"6820546899714064550","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the tray to the right 2- Pick up the toy red chilli from the tray 3- Place the red chilli on the table 4- Move your arm forward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: immediate next step? \u003cPRED\u003eA: Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the tray to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the tray to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8079339890439005077.mp4"}
+{"uid":"18341649567664789598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the duster from the green tray 2- drop the duster on the table 3- pick the toy carrot from the tray 4- Place the toy carrot on the table 5- Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick the duster from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the duster from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the duster from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the duster from the green 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: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: immediate next step? \u003cPRED\u003eA: Pick the duster from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the duster from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1586437480506148638.mp4"}
+{"uid":"74702668504340282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass up side down on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6108206406757192490.mp4"}
+{"uid":"9922336880144749151","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green glass on the table 2- Grab the cloth in the tray 3- Place the cloth on the table 4- Pick up the scrub from the tray 5- drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e","video":"11413624835929337802.mp4"}
+{"uid":"12557917126063469059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow packet in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17264819166825877521.mp4"}
+{"uid":"14614055758023119026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the second 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":"13528610135562101230.mp4"}
+{"uid":"15629764185606436436","text":"\u003ctask:success:discrete:True\u003e\nDrop the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 duster on the table\n\u003c/PRED\u003e","video":"5096133014088276009.mp4"}
+{"uid":"2789964521697962707","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the bottle 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16931091319276746413.mp4"}
+{"uid":"2782094260253513601","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":"4667002259488401086.mp4"}
+{"uid":"14700371284865908284","text":"\u003ctask:success:discrete:True\u003e\nDrop the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 brush on the table\n\u003c/PRED\u003e","video":"7574042680048969505.mp4"}
+{"uid":"2336555855081511318","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the white bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the white bottle\n\u003c/PRED\u003e","video":"10509745395395543173.mp4"}
+{"uid":"1969498325484395122","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":"12228793506509131458.mp4"}
+{"uid":"12742072002599830067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess piece on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14846753139984686790.mp4"}
+{"uid":"12253468860157733100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"8200354108435332470.mp4"}
+{"uid":"8754777448615922949","text":"\u003ctask:success:discrete:True\u003e\nPick the duster from the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the duster from the green tray\n\u003c/PRED\u003e","video":"14567220579703579130.mp4"}
+{"uid":"18161818310981486341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13906268902175666809.mp4"}
+{"uid":"8345493629687202310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop black color box 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":"13839170783635809018.mp4"}
+{"uid":"6810534543695453346","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the top duster on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Place the top duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the top duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the top duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 top duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the top duster on the table 2- Grab the marker from the tray 3- Pick up the marker 4- Place the marker on the table 5- Drag the tray to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the top duster on the table\n\u003c/PRED\u003e","video":"769987167123804865.mp4"}
+{"uid":"8233867994145811628","text":"\u003ctask:success:discrete:False\u003e\nLift the brush from the green 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:False\u003e\nput a bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: immediate next step? \u003cPRED\u003eA: Lift the brush from the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the brush from the green tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the brush from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the brush from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the brush from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Lift the brush from the green tray\n\u003c/PRED\u003e","video":"6373269190193593807.mp4"}
+{"uid":"2333798185982648738","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":"11286802300097340983.mp4"}
+{"uid":"14403163484473509477","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8790937162896945171.mp4"}
+{"uid":"9198078088434358103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16958792864441802160.mp4"}
+{"uid":"5538124289354607421","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green cup from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the green cup from the green 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":"4402275466011314397.mp4"}
+{"uid":"16520208926657580643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12597701081566199812.mp4"}
+{"uid":"9102977563675130362","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the white object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the white object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table Q: immediate next step? \u003cPRED\u003eA: Drop the white object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the white object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the white object on the table 2- Pick the duster from the green tray 3- drop the duster on the table 4- pick the toy carrot from the tray 5- Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the white object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the white object on the table\n\u003c/PRED\u003e","video":"8500313720665384947.mp4"}
+{"uid":"10266228589878655126","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":"14146962046055793485.mp4"}
+{"uid":"17240236463687802410","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy carrot from the tray 2- Place the toy carrot on the table 3- Lift the duster from the green tray 4- Place the duster on the table 5- Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy carrot from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the toy carrot from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e","video":"7163581049619176522.mp4"}
+{"uid":"10410604060169748043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue marker 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":"11018757017748065176.mp4"}
+{"uid":"6423088586875458910","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: Put the cloth on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Put the cloth on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cloth on the table 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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\u003ctask:success:discrete:False\u003e\nPut 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: Put the cloth on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cloth on the table\n\u003c/PRED\u003e","video":"14761175295409673429.mp4"}
+{"uid":"2589905549487669990","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":"15365971296693834510.mp4"}
+{"uid":"4326618318401223183","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: Lift the bottle from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the bottle from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the bottle from the tray 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the bottle from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the bottle from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the bottle from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Lift the bottle from the tray\n\u003c/PRED\u003e","video":"6672519725651847922.mp4"}
+{"uid":"1239230356916259886","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the green glass from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11419765391202906875.mp4"}
+{"uid":"7465393864353557256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16938938168958399383.mp4"}
+{"uid":"14059401020369274889","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: move to the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move to the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to 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: move to the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table Q: immediate next step? \u003cPRED\u003eA: move to the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to 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":"10657659064478356778.mp4"}
+{"uid":"4007609542750939018","text":"\u003ctask:success:discrete:False\u003e\ndrop the toy chilli on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy chilli on the table 2- Move your arm forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy chilli on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy chilli on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the brush in the tray 2- Drop the brush on the table 3- Move towards the green glass from the tray 4- pick up the green cup 5- place the green cup on the table 6- Grab the cloth in the tray 7- Place the cloth on the table 8- Pick up the scrub from the tray 9- drop the scrub on the table 10- Pick the duster from the green tray 11- drop the duster on the table 12- pick the toy carrot from the tray 13- Place the toy carrot on the table 14- Lift the duster from the green tray 15- Place the duster on the table 16- Grab the marker from the tray 17- Pick up the marker 18- Place the marker on the table 19- Drag the tray to the right 20- Pick up the toy red chilli from the tray Q: immediate next step? \u003cPRED\u003eA: drop the toy chilli on the table\n\u003c/PRED\u003e","video":"11932257719878586693.mp4"}
+{"uid":"12960668173288006424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16048472910273935418.mp4"}
+{"uid":"3271713131930408457","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker on the table 2- Pick up the toy red chilli from the tray 3- Place the red chilli on the table 4- Move your arm forward 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Put the blue marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13113056310730331272.mp4"}
+{"uid":"10637312525099205050","text":"\u003ctask:success:discrete:False\u003e\nGrab the cloth 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\nGrab the cloth 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: Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: immediate next step? \u003cPRED\u003eA: Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the cloth in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the cloth in the tray 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e","video":"6753645459303600795.mp4"}
+{"uid":"16984080870020349790","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grasp the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the bottle 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grasp the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14592046078458341790.mp4"}
+{"uid":"14413899646637584093","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white scrub on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white scrub on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the white scrub on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white scrub on the table 2- drop the duster on the table 3- pick the toy carrot from the tray 4- Place the toy carrot on the table 5- Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table Q: immediate next step? \u003cPRED\u003eA: Place the white scrub on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white scrub on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white scrub on the table\n\u003c/PRED\u003e","video":"8369441549651016840.mp4"}
+{"uid":"12365373616517994768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13567892303690684499.mp4"}
+{"uid":"9200172261213845766","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: immediate next step? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brush on the table 2- place the green cup on the table 3- Grab the cloth in the tray 4- Place the cloth on the table 5- Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the brush on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 brush on the table\n\u003c/PRED\u003e","video":"9885939208046764937.mp4"}
+{"uid":"3796830732190262669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange snack pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11954304041196271964.mp4"}
+{"uid":"1762014992775001545","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the white object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the white object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8522526955799966372.mp4"}
+{"uid":"4311223216752077544","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the white bottle from the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white bottle from the green tray 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white bottle from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 white bottle from the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: Pick up the white bottle from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white bottle from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white bottle from the green 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":"9481301727688867697.mp4"}
+{"uid":"7800662886199413236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6270259745995516553.mp4"}
+{"uid":"14907359108994144652","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the red chilli from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 red chilli from the green 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: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick the red chilli from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the red chilli from the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the red chilli from the green tray 2- Place the red chilli on the table 3- Move your arm forward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Pick up the white bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray 6- pick up the green cup 7- place the green cup on the table 8- Grab the cloth in the tray 9- Place the cloth on the table 10- Pick up the scrub from the tray 11- drop the scrub on the table 12- Pick the duster from the green tray 13- drop the duster on the table 14- pick the toy carrot from the tray 15- Place the toy carrot on the table 16- Lift the duster from the green tray 17- Place the duster on the table 18- Grab the marker from the tray 19- Pick up the marker 20- Place the marker on the table Q: immediate next step? \u003cPRED\u003eA: Pick the red chilli from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the red chilli from the green tray\n\u003c/PRED\u003e","video":"15743575575424217702.mp4"}
+{"uid":"11063987721193059001","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch 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:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: touch the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup Q: immediate next step? \u003cPRED\u003eA: touch the cloth\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup Q: next 5 steps? \u003cPRED\u003eA: 1- touch the cloth 2- Place the cloth on the table 3- Pick up the scrub from the tray 4- drop the scrub on the table 5- Pick the duster from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the cloth\n\u003c/PRED\u003e","video":"5695280332936987816.mp4"}
+{"uid":"17900348429460315277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green marker in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9587168625686212245.mp4"}
+{"uid":"12037829163184514534","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":"10094536161371707714.mp4"}
+{"uid":"16766696450064679060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cushion on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7553560728261082322.mp4"}
+{"uid":"2081795150016651602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14051383258351213661.mp4"}
+{"uid":"4687862862005758274","text":"\u003ctask:success:discrete:True\u003e\ndrop the scrub on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 scrub on the table\n\u003c/PRED\u003e","video":"11562681005632948061.mp4"}
+{"uid":"6411552782332002707","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the duster from the green tray 2- Place the duster on the table 3- Grab the marker from the tray 4- Pick up the marker 5- Place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: immediate next step? \u003cPRED\u003eA: Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the duster from the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the duster from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the duster from the green 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":"10791545245904513651.mp4"}
+{"uid":"17971856540531318054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the cucumber 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":"811762993554003946.mp4"}
+{"uid":"18370579708457905348","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle Q: immediate next step? \u003cPRED\u003eA: drop the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3117547846333249483.mp4"}
+{"uid":"4876951421282396067","text":"\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\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: immediate next step? \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: empty green bin onto the table 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cloth on the table 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e","video":"10592923557237509827.mp4"}
+{"uid":"13766090028377098975","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the duster from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the duster from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the duster from the tray 2- Grab the marker from the tray 3- Pick up the marker 4- Place the marker on the table 5- Drag the tray to the right\n\u003c/PRED\u003e","video":"16293709858949502085.mp4"}
+{"uid":"17972535603720578926","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grasp the white bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the white bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the white bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the white bottle 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the white bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the white bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: Grasp the white bottle\n\u003c/PRED\u003e","video":"12382334434062572284.mp4"}
+{"uid":"4106196320429114384","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the top duster from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the top duster from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the top duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the top duster from the tray 2- Place the duster on the table 3- Grab the marker from the tray 4- Pick up the marker 5- Place the marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: immediate next step? \u003cPRED\u003eA: Grab the top duster from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the top duster from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the top duster from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10354705843684852139.mp4"}
+{"uid":"10040149035509081268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon 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":"7892474617011524566.mp4"}
+{"uid":"12776765343998670797","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white scrub on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white scrub on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2373855884931726017.mp4"}
+{"uid":"10332877079166243504","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the marker from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6397252427769189784.mp4"}
+{"uid":"1342892253820705435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17839354216397616864.mp4"}
+{"uid":"15427894390429971549","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: Release the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Release the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the white bottle in the green 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\nRelease the white bottle in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Release the white bottle in the green tray 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e","video":"9282732800017143525.mp4"}
+{"uid":"5280004726286427914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white chocolate ball 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":"5408258399403047330.mp4"}
+{"uid":"2066982399717090325","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":"14900576247242077246.mp4"}
+{"uid":"14389500706469362177","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottle 2- drop the bottle on the table 3- Pick up the brush in the tray 4- Drop the brush on the table 5- Move towards the green glass from the tray\n\u003c/PRED\u003e","video":"4613867641542673563.mp4"}
+{"uid":"9565888085122109781","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cloth on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop 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","video":"7610871302867233265.mp4"}
+{"uid":"15042335789018731906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11447551705700587462.mp4"}
+{"uid":"15051719407899223711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour some pista in coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4733277561080209680.mp4"}
+{"uid":"17638339882352759005","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the cloth from the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the cloth from the green tray 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the cloth from the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Lift the cloth from the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the cloth from the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: immediate next step? \u003cPRED\u003eA: Lift the cloth from the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the cloth from the green 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":"1546969041810146029.mp4"}
+{"uid":"2199205474740568207","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green glass from the tray 2- place the green cup on the table 3- Grab the cloth in the tray 4- Place the cloth on the table 5- Pick up the scrub from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green glass from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green glass from the tray\n\u003c/PRED\u003e","video":"4633671120488418945.mp4"}
+{"uid":"6092084652803083281","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the top duster in the tray 2- Pick the duster from the green tray 3- drop the duster on the table 4- pick the toy carrot from the tray 5- Place the toy carrot on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the top duster in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the top duster in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the top duster 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: Move towards the top duster in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the top duster 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: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray Q: immediate next step? \u003cPRED\u003eA: Move towards the top duster in the tray\n\u003c/PRED\u003e","video":"1128171866562594446.mp4"}
+{"uid":"6096197767312745412","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the marker from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: immediate next step? \u003cPRED\u003eA: Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the marker from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the marker from the tray 2- Pick up the marker 3- Place the marker on the table 4- Drag the tray to the right 5- Pick up the toy red chilli from the tray\n\u003c/PRED\u003e","video":"18324665824566587421.mp4"}
+{"uid":"1760649411105126416","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the duster on the table 2- Pick up the marker 3- Place the marker on the table 4- Drag the tray to the right 5- Pick up the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: drop the duster on the table\n\u003c/PRED\u003e","video":"7021555848638363353.mp4"}
+{"uid":"9979786044661366717","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":"5947165987431738695.mp4"}
+{"uid":"180739742606538014","text":"\u003ctask:success:discrete:True\u003e\npick the duster from  the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the duster from  the tray\n\u003c/PRED\u003e","video":"1951179091785449349.mp4"}
+{"uid":"17686244271767818872","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green glass on the table 2- Grab the cloth in the tray 3- Place the cloth on the table 4- Pick up the scrub from the tray 5- drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: immediate next step? \u003cPRED\u003eA: drop the green glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the green glass on the table\n\u003c/PRED\u003e","video":"17205061484566518175.mp4"}
+{"uid":"13693212123327496204","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the white bottle in the green tray 2- Pick up the white bottle 3- drop the bottle on the table 4- Pick up the brush in the tray 5- Drop the brush on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the white bottle in the green 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: empty green bin onto the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the white bottle in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the white bottle in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1736899466214535876.mp4"}
+{"uid":"2271756704382785780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13355912717236320925.mp4"}
+{"uid":"1336086968165562776","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the duster on the table 2- Pick up the marker 3- Place the marker on the table 4- Drag the tray to the right 5- Pick up the toy red chilli from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the duster on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table Q: immediate next step? \u003cPRED\u003eA: Place the duster on the table\n\u003c/PRED\u003e","video":"6828370173424459684.mp4"}
+{"uid":"16468921541380633323","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the blue marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue marker on the table 2- Pick up the toy red chilli from the tray 3- Place the red chilli on the table 4- Move your arm forward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: immediate next step? \u003cPRED\u003eA: drop the blue marker on the table\n\u003c/PRED\u003e","video":"15122486720107106339.mp4"}
+{"uid":"13520109055909798224","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the  toy carrot from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the  toy carrot from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the  toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the  toy carrot from the tray 2- Place the toy carrot on the table 3- Lift the duster from the green tray 4- Place the duster on the table 5- Grab the marker from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Move towards the  toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the  toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Move towards the  toy carrot from the tray\n\u003c/PRED\u003e","video":"11057341352072670377.mp4"}
+{"uid":"40928258731088554","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the cloth\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Grab the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the cloth\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: immediate next step? \u003cPRED\u003eA: Grab the cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the cloth 2- Place the cloth on the table 3- Pick up the scrub from the tray 4- drop the scrub on the table 5- Pick the duster from the green tray\n\u003c/PRED\u003e","video":"11450659819725869835.mp4"}
+{"uid":"16825828806429156042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the white object 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":"4817484596106475958.mp4"}
+{"uid":"18135111347568961277","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy red chilli\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the toy red chilli Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 toy red chilli\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy red chilli Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup 6- place the green cup on the table 7- Grab the cloth in the tray 8- Place the cloth on the table 9- Pick up the scrub from the tray 10- drop the scrub on the table 11- Pick the duster from the green tray 12- drop the duster on the table 13- pick the toy carrot from the tray 14- Place the toy carrot on the table 15- Lift the duster from the green tray 16- Place the duster on the table 17- Grab the marker from the tray 18- Pick up the marker 19- Place the marker on the table 20- Drag the tray to the right Q: immediate next step? \u003cPRED\u003eA: Pick up the toy red chilli\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- drop the bottle on the table 2- Pick up the brush in the tray 3- Drop the brush on the table 4- Move towards the green glass from the tray 5- pick up the green cup 6- place the green cup on the table 7- Grab the cloth in the tray 8- Place the cloth on the table 9- Pick up the scrub from the tray 10- drop the scrub on the table 11- Pick the duster from the green tray 12- drop the duster on the table 13- pick the toy carrot from the tray 14- Place the toy carrot on the table 15- Lift the duster from the green tray 16- Place the duster on the table 17- Grab the marker from the tray 18- Pick up the marker 19- Place the marker on the table 20- Drag the tray to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy red chilli 2- Move your arm forward 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy red chilli\n\u003c/PRED\u003e","video":"2723619505493590152.mp4"}
+{"uid":"16384707383552741359","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17229161909572923284.mp4"}
+{"uid":"8394682628779364822","text":"\u003ctask:success:discrete:True\u003e\nLift the cloth from the green 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: Lift the cloth from the green tray\n\u003c/PRED\u003e","video":"8790782938270128378.mp4"}
+{"uid":"16508598178374615297","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the toy carrot from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16223158795275798740.mp4"}
+{"uid":"9301724913062024611","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the white object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the white object 2- drop the scrub on the table 3- Pick the duster from the green tray 4- drop the duster on the table 5- pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Lift the white object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the white object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: Lift the white object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the white object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the white object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2659808073365011577.mp4"}
+{"uid":"12893432210239346723","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker on the table 2- Pick up the toy red chilli from the tray 3- Place the red chilli on the table 4- Move your arm forward 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table 16- pick the toy carrot from the tray 17- Place the toy carrot on the table 18- Lift the duster from the green tray 19- Place the duster on the table 20- Grab the marker from the tray Q: immediate next step? \u003cPRED\u003eA: Place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5739701930513279917.mp4"}
+{"uid":"6712768492148647045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15136620602623714031.mp4"}
+{"uid":"14038323004592170531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7191436815265561154.mp4"}
+{"uid":"13316129717956024330","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scrub from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scrub from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the scrub from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scrub from the tray 2- drop the scrub on the table 3- Pick the duster from the green tray 4- drop the duster on the table 5- pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scrub from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: pick the scrub from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the scrub from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16288222220586173089.mp4"}
+{"uid":"13365286034331332193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the blue object on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7831626589254413308.mp4"}
+{"uid":"6302905085465171339","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green 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: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green cup 2- Grab the cloth in the tray 3- Place the cloth on the table 4- Pick up the scrub from the tray 5- drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table Q: immediate next step? \u003cPRED\u003eA: pick up the green cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green 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: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick up the green cup\n\u003c/PRED\u003e","video":"9247649669267256747.mp4"}
+{"uid":"1225075365929852571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"11212986622138085629.mp4"}
+{"uid":"1512371172887808131","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cloth on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: immediate next step? \u003cPRED\u003eA: drop the cloth on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cloth on the table 2- Pick up the scrub from the tray 3- drop the scrub on the table 4- Pick the duster from the green tray 5- drop the duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cloth on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: drop the cloth on the table\n\u003c/PRED\u003e","video":"12490812855596477016.mp4"}
+{"uid":"20551453766983775","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the duster on he table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: immediate next step? \u003cPRED\u003eA: Release the duster on he table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Release the duster on he table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Release the duster on he table 2- pick the toy carrot from the tray 3- Place the toy carrot on the table 4- Lift the duster from the green tray 5- Place the duster on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the duster on he table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the duster on he table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the duster on he table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3422354923823452706.mp4"}
+{"uid":"554842147582220841","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brush from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brush from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4277224263028736033.mp4"}
+{"uid":"171633246680062808","text":"\u003ctask:success:discrete:True\u003e\nGrab the top duster from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the top duster from the tray\n\u003c/PRED\u003e","video":"8045113571724402388.mp4"}
+{"uid":"3764670835519544112","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the toy carrot from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the toy carrot from the tray 2- Lift the duster from the green tray 3- Place the duster on the table 4- Grab the marker from the tray 5- Pick up the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the toy carrot from the tray\n\u003c/PRED\u003e","video":"8057732326294192988.mp4"}
+{"uid":"9692389276131633203","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":"10636077631227943847.mp4"}
+{"uid":"12720993482701417828","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the toy carrot from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: immediate next step? \u003cPRED\u003eA: pick the toy carrot from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the toy carrot from the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray 8- pick up the green cup 9- place the green cup on the table 10- Grab the cloth in the tray 11- Place the cloth on the table 12- Pick up the scrub from the tray 13- drop the scrub on the table 14- Pick the duster from the green tray 15- drop the duster on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the toy carrot from the tray 2- Lift the duster from the green tray 3- Place the duster on the table 4- Grab the marker from the tray 5- Pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the toy carrot from the tray\n\u003c/PRED\u003e","video":"4662755956086282281.mp4"}
+{"uid":"8313949503018016276","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":"3269294154873698423.mp4"}
+{"uid":"14879632634919496484","text":"\u003ctask:success:discrete:True\u003e\nLift the blue marker from the green 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: Lift the blue marker from the green tray\n\u003c/PRED\u003e","video":"9094105890959441122.mp4"}
+{"uid":"3770990669775998091","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty green bin onto the table Q: immediate next step? \u003cPRED\u003eA: place the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the green cup on the table 2- Grab the cloth in the tray 3- Place the cloth on the table 4- Pick up the scrub from the tray 5- drop the scrub on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty green bin onto the table. last 20 steps: 1- Move towards the white bottle 2- Grab the white bottle from the tray 3- Pick up the white bottle 4- drop the bottle on the table 5- Pick up the brush in the tray 6- Drop the brush on the table 7- Move towards the green glass from the tray Q: immediate next step? \u003cPRED\u003eA: place the green cup on the table\n\u003c/PRED\u003e","video":"8229166603977876592.mp4"}
+{"uid":"1699609914113538525","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":"10685153843665789747.mp4"}
+{"uid":"13143783302749645596","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4151421224732242922.mp4"}
+{"uid":"17291288209404687250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7191128376836368974.mp4"}
+{"uid":"16610791419973694771","text":"\u003ctask:success:discrete:True\u003e\nput white candy in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white candy in the container\n\u003c/PRED\u003e","video":"12025011335174713759.mp4"}
+{"uid":"4567168104951434063","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- place the tissue on the table 3- wipe the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18276824350897377778.mp4"}
+{"uid":"17276790171220710854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nempty the plastic glass into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12173674939119949866.mp4"}
+{"uid":"13408417970535548622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14274111249382690808.mp4"}
+{"uid":"2592160949234038071","text":"\u003ctask:success:discrete:True\u003e\nplace the sugar packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e","video":"800070782629466263.mp4"}
+{"uid":"2244878812796214780","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Move the holder in the left side 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"10528528552084702143.mp4"}
+{"uid":"89273384977933235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the brown cable in the trap 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":"15759498579039005770.mp4"}
+{"uid":"5579513212446910568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a plastic spoon 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":"15478659164699235027.mp4"}
+{"uid":"10573884206221277569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15548134395345869651.mp4"}
+{"uid":"8576908168914989237","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put pink candies in the organiser 3- put pink candy in the organiser 4- put white candy in the organiser 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"306280045674447972.mp4"}
+{"uid":"1388893380337873739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16880317653915896153.mp4"}
+{"uid":"6386137843688149224","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown sugar candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown sugar candy in the organiser 2- put brown candy in the organiser 3- put brown sugar candy in the organiser 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown sugar candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e","video":"14413504859758263454.mp4"}
+{"uid":"7623991762793305121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink candies in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put pink candies in the organiser 2- put pink candies in the organiser 3- put pink candy in the organiser 4- put white candy in the organiser 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink candies in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8680117668728073015.mp4"}
+{"uid":"13574149503247125259","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown candy in the organiser 2- place the pink packet into the organizer 3- drop candy into organizer 4- put pink candies in the organiser 5- put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10855222951191158260.mp4"}
+{"uid":"7715364351919643040","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer Q: immediate next step? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packets into the organizer 2- put pink candies in the organiser 3- put pink candy in the organiser 4- put white candy in the organiser 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e","video":"16218497112589725536.mp4"}
+{"uid":"16889976132778804505","text":"\u003ctask:success:discrete:True\u003e\nplace the white candy into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e","video":"6074843461135921426.mp4"}
+{"uid":"14985459189835856670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"207414215433733548.mp4"}
+{"uid":"16838496157234540793","text":"\u003ctask:success:discrete:True\u003e\nput brown candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e","video":"201026521738443894.mp4"}
+{"uid":"17734794430444990872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12108429929791613094.mp4"}
+{"uid":"13201684982399279679","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy 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 candy 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop candy into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into stand 2- place the pink packet into the organizer 3- drop candy into organizer 4- put pink candies in the organiser 5- put pink candy in the organiser\n\u003c/PRED\u003e","video":"13047149687241721602.mp4"}
+{"uid":"1638800948887850006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3960890470976787500.mp4"}
+{"uid":"9054149605770454162","text":"\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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- wipe the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- open the lid Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \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":"12467647842077833714.mp4"}
+{"uid":"5185851842315663831","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white candy in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put white candy in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put white candy in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white candy in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white candy in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put white candy in the container 2- place the sugar packet into the organizer 3- put brown candy in the organiser 4- put brown sugar candy in the organiser 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white candy in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14738469145311638134.mp4"}
+{"uid":"14309746316369958691","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand Q: immediate next step? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put pink candy in the organiser 2- put pink candies in the organiser 3- put pink candy in the organiser 4- put white candy in the organiser 5- drop candy into organizer\n\u003c/PRED\u003e","video":"10989246321049662250.mp4"}
+{"uid":"15892028792382049460","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":"12523114029688225268.mp4"}
+{"uid":"13338631041606164316","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":"5956665848246540103.mp4"}
+{"uid":"6719339419752086857","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand Q: immediate next step? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet into the organizer 2- put pink candies in the organiser 3- put pink candy in the organiser 4- put white candy in the organiser 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e","video":"12547894997058609782.mp4"}
+{"uid":"18343997159719791454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the microphone 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":"4728690702342563233.mp4"}
+{"uid":"1096270652468252154","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":"14318070146339132594.mp4"}
+{"uid":"14261105886908289050","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2001957173799618358.mp4"}
+{"uid":"11372941160729166678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17037769945570451719.mp4"}
+{"uid":"8299296300597768200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"13813904627997704153.mp4"}
+{"uid":"2400630620710563935","text":"\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- place the sugar packet into the organizer 4- put brown candy in the organiser 5- put brown sugar candy in the organiser\n\u003c/PRED\u003e","video":"239081309260023144.mp4"}
+{"uid":"17419262015910513252","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- open the lid 2- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- open the lid 2- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8087203539846559887.mp4"}
+{"uid":"10842157691209901637","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder 8- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder 8- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Move the holder in the left side 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"8080673106072540662.mp4"}
+{"uid":"1590882164757259079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"8343276552881589241.mp4"}
+{"uid":"10778941896817747499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"8965708443772468065.mp4"}
+{"uid":"393218220684157484","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":"2377316550194790548.mp4"}
+{"uid":"1253345353644838851","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"5924938788989292761.mp4"}
+{"uid":"307314695390389458","text":"\u003ctask:success:discrete:False\u003e\nput pink candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser Q: immediate next step? \u003cPRED\u003eA: put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pink candy in the organiser 2- put white candy in the organiser 3- drop candy into organizer 4- drop candy into organizer 5- place the sugar packet into the organizer\n\u003c/PRED\u003e","video":"6433345858280073083.mp4"}
+{"uid":"14639978584550545367","text":"\u003ctask:success:discrete:True\u003e\nplace the toy on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy on the shelf\n\u003c/PRED\u003e","video":"4391532555803853291.mp4"}
+{"uid":"4337731092062330263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5479116921583663603.mp4"}
+{"uid":"2465344482361120070","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser Q: immediate next step? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white candy into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white candy into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place the white candy into the organizer 2- drop candy into organizer 3- drop candy into organizer 4- place the sugar packet into the organizer 5- put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e","video":"6777421756733494065.mp4"}
+{"uid":"8428860351254053581","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":"15830192829474155900.mp4"}
+{"uid":"4800489322463919098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the clock on the shelf 2- place the toy on the shelf 3- place the toy on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the clock on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the clock on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at Q: immediate next step? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e","video":"11707989609098329607.mp4"}
+{"uid":"4297608616245019920","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sugar packet into the organzer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sugar packet into the organzer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 packet into the organzer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organzer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organzer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sugar packet into the organzer 2- place the pink packet into the organizer 3- drop candy into organizer 4- put pink candies in the organiser 5- put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sugar packet into the organzer\n\u003c/PRED\u003e","video":"11781103802551230567.mp4"}
+{"uid":"382903778295298904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4310302466082925427.mp4"}
+{"uid":"4425072145757854831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note in glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18061965368591049963.mp4"}
+{"uid":"1657371462066513905","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8057241933920715627.mp4"}
+{"uid":"16690030098553578662","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser Q: immediate next step? \u003cPRED\u003eA: place the pink packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet into the organizer 2- put white candy in the organiser 3- drop candy into organizer 4- drop candy into organizer 5- place the sugar packet into the organizer\n\u003c/PRED\u003e","video":"14405205821294100763.mp4"}
+{"uid":"13697238476513426803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6086416338550948053.mp4"}
+{"uid":"15843290118667879369","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white candy into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7666135856094695899.mp4"}
+{"uid":"7613552462584919484","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- put white candy in the organiser 3- drop candy into organizer 4- drop candy into organizer 5- place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"7165618393073955490.mp4"}
+{"uid":"532501208949977826","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the holder in the left side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder in the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the holder in the left 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: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder 8- Put the marker in the holder 9- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder in the left side 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the holder in the left side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder 8- Put the marker in the holder 9- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Move the holder in the left side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Move the holder in the left side\n\u003c/PRED\u003e","video":"9530098792895468754.mp4"}
+{"uid":"1860498102372245218","text":"\u003ctask:success:discrete:False\u003e\nPut the holder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder 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: Put the writing utensils in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the holder upright on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the holder 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 holder upright on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder upright on the table\n\u003c/PRED\u003e","video":"7622014525739752405.mp4"}
+{"uid":"10218005470419578932","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: 1- place the clock on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the shelf 2- place the toy on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at Q: immediate next step? \u003cPRED\u003eA: place the toy on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: 1- place the clock on the shelf Q: immediate next step? \u003cPRED\u003eA: place the toy on the shelf\n\u003c/PRED\u003e","video":"612915072096325950.mp4"}
+{"uid":"7854439431934969690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15478876519320827819.mp4"}
+{"uid":"11049291966014382757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"11624362448634886846.mp4"}
+{"uid":"4816138256273016735","text":"\u003ctask:success:discrete:True\u003e\ndrop candy 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 candy into stand\n\u003c/PRED\u003e","video":"194299176564175934.mp4"}
+{"uid":"17972168260803880089","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put brown candies in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown candies in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put brown candies in the organiser 2- place the pink packet into the organizer 3- drop candy into organizer 4- put pink candies in the organiser 5- put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown candies in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put brown candies in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown candies in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown candies in the organiser\n\u003c/PRED\u003e","video":"11599510380642055372.mp4"}
+{"uid":"3166407316701298531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snacks 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":"6658193585154285136.mp4"}
+{"uid":"2588262609759533890","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: 1- place the clock on the shelf 2- place the toy on the shelf 3- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: 1- place the clock on the shelf 2- place the toy on the shelf 3- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2652266993697858814.mp4"}
+{"uid":"8111031922107584243","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder 6- Put the marker in the holder 7- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Move the holder in the left side 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"3935580851539194086.mp4"}
+{"uid":"13097098296550024091","text":"\u003ctask:success:discrete:True\u003e\nwipe the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- open the lid 2- place the tissue on the table 3- wipe 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: wipe the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done for the day can you clean my desk using sanitizer. last 20 steps: 1- open the lid 2- place the tissue on the table 3- wipe the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6530372764542532607.mp4"}
+{"uid":"17404527853379741471","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sugar packets into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sugar packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the sugar packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sugar packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sugar packets into the organizer 2- place the pink packet into the organizer 3- drop candy into organizer 4- put pink candies in the organiser 5- put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sugar packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sugar packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4700431860482097074.mp4"}
+{"uid":"17217188072130855886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11615920207380088376.mp4"}
+{"uid":"14958670181479559863","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"16958723341298613661.mp4"}
+{"uid":"6409892665322550094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7869257757659474008.mp4"}
+{"uid":"170355332811356442","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":"1000513782647250933.mp4"}
+{"uid":"8256218317517201176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17544432446307606412.mp4"}
+{"uid":"1168420771118499823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"2828049633293714285.mp4"}
+{"uid":"3927141221448554880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"203041799371697862.mp4"}
+{"uid":"18420744085127881483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper bowl from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7532831701720335442.mp4"}
+{"uid":"11002472586757484710","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":"5741189560210678335.mp4"}
+{"uid":"3074605067549760602","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sugar packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sugar packet into the organizer 2- put brown candy in the organiser 3- put brown sugar candy in the organiser 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e","video":"7087184289483654540.mp4"}
+{"uid":"4124175702732616812","text":"\u003ctask:success:discrete:True\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"6080706640406427222.mp4"}
+{"uid":"6071343039902998614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the white 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":"1083125333419204159.mp4"}
+{"uid":"15733102703287864698","text":"\u003ctask:success:discrete:True\u003e\nput white candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e","video":"13474804329336224402.mp4"}
+{"uid":"3157103498790097715","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the white candy into the organizer 2- place the sugar packet into the organizer 3- put brown candy in the organiser 4- put brown sugar candy in the organiser 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white candy into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6794274340875389015.mp4"}
+{"uid":"7560433772926532283","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer Q: immediate next step? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown candy in the organiser 2- put brown sugar candy in the organiser 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6590348238896200636.mp4"}
+{"uid":"14026842191018839905","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink candies in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put pink candies in the organiser 2- put pink candy in the organiser 3- put white candy in the organiser 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink candies in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12488432191512193522.mp4"}
+{"uid":"2550036859700981110","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer 11- put brown candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place the sugar packet into the organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer 11- put brown candy in the organiser Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e","video":"13470392963624349591.mp4"}
+{"uid":"5553864410136709131","text":"\u003ctask:success:discrete:True\u003e\nput brown candies in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown candies in the organiser\n\u003c/PRED\u003e","video":"11788938678311182876.mp4"}
+{"uid":"14208885252075030991","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":"13321644606758181134.mp4"}
+{"uid":"14110725525969993862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black box 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":"17056076794205323525.mp4"}
+{"uid":"11464162780887389844","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":"15482038148357336113.mp4"}
+{"uid":"13999598853294484660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Move the holder in the left side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1606804680491512117.mp4"}
+{"uid":"16619430104551781136","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"6943339879296233979.mp4"}
+{"uid":"7290273314212046579","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place the sugar packet into the organizer 3- put brown candy in the organiser 4- put brown sugar candy in the organiser 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"16105215278914710188.mp4"}
+{"uid":"6674647981902324763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16785066000215598029.mp4"}
+{"uid":"9813826843841425916","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packets into the organizer 2- put pink candy in the organiser 3- put white candy in the organiser 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5613235607154868155.mp4"}
+{"uid":"14930033192247822878","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer 11- put brown candy in the organiser Q: immediate next step? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown sugar candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown sugar candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer 11- put brown candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put brown sugar candy in the organiser 2- done\n\u003c/PRED\u003e","video":"834251475425934795.mp4"}
+{"uid":"15894957236912625831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left side 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":"4705705888818950938.mp4"}
+{"uid":"3173088630860432753","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3102090492377396854.mp4"}
+{"uid":"15425032047320165112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep toy 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":"5780211553731583085.mp4"}
+{"uid":"15822368029517976357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13241831155711790913.mp4"}
+{"uid":"1924195610443496790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13084492340593796520.mp4"}
+{"uid":"9904214643729457182","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":"11247662242621535287.mp4"}
+{"uid":"15798327308986412382","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"10929146257350999055.mp4"}
+{"uid":"10875659276679441723","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: 1- place the clock on the shelf 2- place the toy on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please find a nice location to place these robots at. last 20 steps: 1- place the clock on the shelf 2- place the toy on the shelf Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e","video":"10425870887787281803.mp4"}
+{"uid":"11149645178375133570","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place the pink packet into the organizer 3- drop candy into organizer 4- put pink candies in the organiser 5- put pink candy in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"17583313552214788517.mp4"}
+{"uid":"3843052058082453655","text":"\u003ctask:success:discrete:True\u003e\nplace the clock on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the clock on the shelf\n\u003c/PRED\u003e","video":"13445180336152641646.mp4"}
+{"uid":"15180091519654767567","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":"2174189807278174093.mp4"}
+{"uid":"11281022573355799400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the writing utensils in the pen holder. last 20 steps: 1- Put the holder upright on the table 2- Put the marker in the holder 3- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the marker in the holder 4- Put the marker in the holder 5- Put the marker in the holder\n\u003c/PRED\u003e","video":"7608230827076453919.mp4"}
+{"uid":"9906762606303969785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to 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":"8661037854111340562.mp4"}
+{"uid":"2806446495037113938","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sugar packet into the organizer 2- put brown sugar candy in the organiser 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser 8- drop candy into organizer 9- drop candy into organizer 10- place the sugar packet into the organizer Q: immediate next step? \u003cPRED\u003eA: place the sugar packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"109068890448963915.mp4"}
+{"uid":"4898262433568731480","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser Q: immediate next step? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white candy in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put white candy in the organiser 2- drop candy into organizer 3- place the sugar packet into the organizer 4- put brown candy in the organiser 5- put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e","video":"11117214160084022436.mp4"}
+{"uid":"7347590340480550735","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put white candy in the organiser 2- place the sugar packet into the organizer 3- put brown candy in the organiser 4- put brown sugar candy in the organiser 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser Q: immediate next step? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put white candy in the organiser\n\u003c/PRED\u003e","video":"1375097966887191782.mp4"}
+{"uid":"15663568925006360851","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- place the white candy into the organizer 2- drop candy into organizer 3- place the sugar packet into the organizer 4- put brown candy in the organiser 5- put brown sugar candy in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white candy into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into stand 3- place the pink packet into the organizer 4- drop candy into organizer 5- put pink candies in the organiser 6- put pink candy in the organiser 7- put white candy in the organiser Q: immediate next step? \u003cPRED\u003eA: place the white candy into the organizer\n\u003c/PRED\u003e","video":"478853055609992409.mp4"}
+{"uid":"18444837512846954532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4736329186720921597.mp4"}
+{"uid":"1546937964886832263","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":"6028709781879430496.mp4"}
+{"uid":"7671025488736079278","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"9476147272478363928.mp4"}
+{"uid":"14097700206165295205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the tetra pack bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8249250734910290156.mp4"}
+{"uid":"17801892467422446915","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"6916590670262079887.mp4"}
+{"uid":"14475803502064300440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1664303551786764963.mp4"}
+{"uid":"3933451752153154199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate 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":"18401293669151618678.mp4"}
+{"uid":"7743712364912166944","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"18060809210627912985.mp4"}
+{"uid":"10851374536843990279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18371538685991931074.mp4"}
+{"uid":"16370024982938848282","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":"7620708983076656595.mp4"}
+{"uid":"12366554660803318877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2167874258340560050.mp4"}
+{"uid":"10074400946707409418","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- put packet on the table 3- put tissue paper on the table 4- keep the tissue straight on the table 5- put spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1994722405252512297.mp4"}
+{"uid":"13348521694443460091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11067185076879244171.mp4"}
+{"uid":"5663828408304926143","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e","video":"3226707713050248857.mp4"}
+{"uid":"15084108154735135263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1297861695549402014.mp4"}
+{"uid":"4396689396129087518","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"4402192206522054886.mp4"}
+{"uid":"17975375997605595724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8319227490830050659.mp4"}
+{"uid":"14993336565457521633","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask: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":"1735386540662257611.mp4"}
+{"uid":"7690686718205965323","text":"\u003ctask:success:discrete:False\u003e\nplace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"11141947649854563008.mp4"}
+{"uid":"13743336004470048546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pink 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":"18240684026731376472.mp4"}
+{"uid":"4945705061695778564","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue paper on the table 2- keep the tissue straight on the table 3- put spoon on the tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1685200987490895787.mp4"}
+{"uid":"2677822335439053369","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"3543028117318781967.mp4"}
+{"uid":"2052281025367497252","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"13330110301711452792.mp4"}
+{"uid":"2256246995525091552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17088321582115801742.mp4"}
+{"uid":"502823851592369987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6642085644952153059.mp4"}
+{"uid":"17660542839604360672","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"11324371351198319112.mp4"}
+{"uid":"13958550614985864739","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":"10274279907788666361.mp4"}
+{"uid":"3068395759316392265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge 2- put packet on the table 3- put tissue paper on the table 4- keep the tissue straight on the table Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge 2- put packet on the table 3- put tissue paper on the table 4- keep the tissue straight on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e","video":"4333755902411534653.mp4"}
+{"uid":"9185166184897151850","text":"\u003ctask:success:discrete:True\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"14478657259789791366.mp4"}
+{"uid":"10571793797534441916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sweet corn pack,blue object into the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16510973456182325450.mp4"}
+{"uid":"13110542985426024540","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge 2- put packet on the table 3- put tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- keep the tissue straight on the table 2- put spoon on the tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge 2- put packet on the table 3- put tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: keep the tissue straight on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: keep the tissue straight on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the tissue straight on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the tissue straight on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the tissue straight on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the tissue straight on the table\n\u003c/PRED\u003e","video":"3257576002208658351.mp4"}
+{"uid":"5134814155845069236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e","video":"8293569618453844012.mp4"}
+{"uid":"12879533809437376416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep fruit in 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":"11526741392390638111.mp4"}
+{"uid":"10721416440133871144","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":"38218689953807384.mp4"}
+{"uid":"10457770544741284231","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place the packet on the table 3- place the packet on the table 4- done\n\u003c/PRED\u003e","video":"18137986602752032140.mp4"}
+{"uid":"4468361334069134497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2540208473739897959.mp4"}
+{"uid":"11412123063210427472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in stacked glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3480714394668829473.mp4"}
+{"uid":"14814728774284028309","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put tissue paper on the table 3- keep the tissue straight on the table 4- put spoon on the tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the MK and grab me a yogurt, napkin, and a spoon Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"11866294430260379579.mp4"}
+{"uid":"5540071652961916510","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"27901497563224925.mp4"}
+{"uid":"705425221367262202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the golden packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10799967148784144254.mp4"}
+{"uid":"3455284219396346301","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"8186856832687659047.mp4"}
+{"uid":"5474900808730346956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the packets place it on the beside yellow table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16666348605217844116.mp4"}
+{"uid":"464461930692984043","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"7993900920242740136.mp4"}
+{"uid":"17079430739786089992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10873552878525252851.mp4"}
+{"uid":"14076694884997429200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the left side file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3643993347545449978.mp4"}
+{"uid":"17322682550868654827","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place the packet on the table 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"10762387670728493580.mp4"}
+{"uid":"11993298604216343393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11059155604923941427.mp4"}
+{"uid":"164945339099940873","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- done\n\u003c/PRED\u003e","video":"5413840049326613899.mp4"}
+{"uid":"480479308360964068","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask: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:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6610383486013309077.mp4"}
+{"uid":"12138666997904231129","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"12895461334630907970.mp4"}
+{"uid":"7914673888345803683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet on the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14587076691602325837.mp4"}
+{"uid":"17179407049958129103","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e","video":"9376983940941423410.mp4"}
+{"uid":"774854720153298345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3994171189888097936.mp4"}
+{"uid":"8853591858381287184","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"3907219517200614106.mp4"}
+{"uid":"3023832411523411543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- done\n\u003c/PRED\u003e","video":"17003843041785170599.mp4"}
+{"uid":"17984203721780268620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1283306764756162592.mp4"}
+{"uid":"14341948622200682685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"359094290623809256.mp4"}
+{"uid":"3604213021159439923","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"8591720928924815884.mp4"}
+{"uid":"9155168056183347197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut big cup 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":"10708701942155004827.mp4"}
+{"uid":"2142415104259207237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask: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","video":"9380647697760167464.mp4"}
+{"uid":"17572343141616978808","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the box downwards.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. Q: next 5 steps? \u003cPRED\u003eA: 1- move the box downwards. 2- Move the flap up 3- Hold the carton  box 4- Close the carton box 5- move away from the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the box downwards.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. Q: immediate next step? \u003cPRED\u003eA: move the box downwards.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the box downwards. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: move the box downwards.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the box downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11079184584327860721.mp4"}
+{"uid":"16552949469982388269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball 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":"1383369496813598933.mp4"}
+{"uid":"14225244246159231960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drag the box back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrag the box back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14961730222691370655.mp4"}
+{"uid":"1622113381182086556","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the carton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up Q: next 5 steps? \u003cPRED\u003eA: 1- Close the carton box 2- move away from the box. 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Close the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up Q: immediate next step? \u003cPRED\u003eA: Close the carton box\n\u003c/PRED\u003e","video":"16420375459980889647.mp4"}
+{"uid":"1236321583057885735","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5040505239751289881.mp4"}
+{"uid":"3014405201238761178","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place it in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace it in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1409553330363117617.mp4"}
+{"uid":"5185620074053237319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11230684004166552567.mp4"}
+{"uid":"8813524815648092684","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: immediate next step? \u003cPRED\u003eA: pick up the left strainer from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the left strainer from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: pick up the left strainer from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the left strainer from the table. 2- pick up the strainer from the table. 3- drop the strainer in the box. 4- Drag the box back 5- Push it forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the left strainer 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 left strainer from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the left strainer 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":"14995957253632626788.mp4"}
+{"uid":"4971944189944874968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5514710654700865426.mp4"}
+{"uid":"13244778745802676938","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strainer in the box. 2- Drop the rightmost strainer in the box 3- Pick the bottom strainer 4- Drop it in the cardboard box 5- Go to the top strainer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strainer in the box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the strainer in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"2927895445904002138.mp4"}
+{"uid":"13670855870431486872","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Put the top right strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the top right strainer in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the top right strainer in the cardboard box 2- Drop the rightmost strainer in the box 3- Pick the bottom strainer 4- Drop it in the cardboard box 5- Go to the top strainer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the top right strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Put the top right strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the top right strainer in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the top right strainer in the cardboard box\n\u003c/PRED\u003e","video":"6191956530582585832.mp4"}
+{"uid":"18327538623615341096","text":"\u003ctask:success:discrete:False\u003e\nclose the lid of 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: close the lid of the box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid of the box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: close the lid of the box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box Q: immediate next step? \u003cPRED\u003eA: close the lid of the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid of 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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid of the box. 2- move away from the box. 3- done\n\u003c/PRED\u003e","video":"18032014845485089835.mp4"}
+{"uid":"2029322309135869860","text":"\u003ctask:success:discrete:True\u003e\nDrop the rightmost strainer in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the rightmost strainer in the box\n\u003c/PRED\u003e","video":"7064475088930332495.mp4"}
+{"uid":"1974138851637245394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee on the table from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6909490526997143891.mp4"}
+{"uid":"2072616055358222795","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer in the carton box 2- Drop it in the cardboard box 3- Go to the top strainer 4- Place the left bottom strainer in the box 5- pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10461585376603152624.mp4"}
+{"uid":"14635719076917754350","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":"344508905831870133.mp4"}
+{"uid":"17993683185693327788","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hold the carton  box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nHold the carton  box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5317724785101336986.mp4"}
+{"uid":"8106308198704540898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the notepad 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":"8529319147624011209.mp4"}
+{"uid":"15417434166396532325","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer into the carton box 2- Drop the rightmost strainer in the box 3- Pick the bottom strainer 4- Drop it in the cardboard box 5- Go to the top strainer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table Q: immediate next step? \u003cPRED\u003eA: Place the strainer into the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place the strainer into the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer into the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the strainer into the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer into the carton box\n\u003c/PRED\u003e","video":"13600744009320787362.mp4"}
+{"uid":"2836466643202743526","text":"\u003ctask:success:discrete:True\u003e\nPlace the left bottom strainer 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 left bottom strainer in the box\n\u003c/PRED\u003e","video":"10736777755246437024.mp4"}
+{"uid":"8629423478376676974","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: immediate next step? \u003cPRED\u003eA: Place the left bottom strainer in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place the left bottom strainer in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the left bottom strainer in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the left bottom strainer in the box 2- pick up the strainer from the table. 3- drop the strainer in the box. 4- Drag the box back 5- Push it forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the left bottom strainer 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 left bottom strainer 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 left bottom strainer in the box\n\u003c/PRED\u003e","video":"14176685216591869447.mp4"}
+{"uid":"11632610163492279346","text":"\u003ctask:success:discrete:False\u003e\nMove the flap up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the flap up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the flap up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Move the flap up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward Q: immediate next step? \u003cPRED\u003eA: Move the flap up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move the flap up 2- Close the carton box 3- move away from the box. 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the flap up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13176936894574672802.mp4"}
+{"uid":"8399935034470424825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhold the left side black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3372698810504071459.mp4"}
+{"uid":"495926249480764492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the penstand on the black carrier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1422365522283335981.mp4"}
+{"uid":"9418696958278895564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup 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":"4437299097795264595.mp4"}
+{"uid":"7699544803024708594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11296521835595306803.mp4"}
+{"uid":"16344677373459214931","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strainer in the box. 2- Drop it in the cardboard box 3- Go to the top strainer 4- Place the left bottom strainer in the box 5- pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the strainer 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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strainer in the box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"11654654140053816607.mp4"}
+{"uid":"16312495067846030287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange marker in the left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5168540697926601532.mp4"}
+{"uid":"12461762468164293215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass 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":"1992676980586055566.mp4"}
+{"uid":"13532634849477226763","text":"\u003ctask:success:discrete:True\u003e\npick up the strainer 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 strainer from the table.\n\u003c/PRED\u003e","video":"6447089187337606495.mp4"}
+{"uid":"1355199667167404369","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drag the carton box downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrag the carton box downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3149759329360515022.mp4"}
+{"uid":"5793360761049658638","text":"\u003ctask:success:discrete:False\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer in the carton box 2- drop the strainer in the box. 3- Drag the box back 4- Push it forward 5- Move the flap up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e","video":"2848094151535173676.mp4"}
+{"uid":"14065403759950113980","text":"\u003ctask:success:discrete:True\u003e\nThrow the strainer in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the strainer in the cardboard box\n\u003c/PRED\u003e","video":"13314877284840876838.mp4"}
+{"uid":"5635603998391879289","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6407334170917665520.mp4"}
+{"uid":"16024447486983795923","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer on the table 2- Pick the bottom strainer 3- Drop it in the cardboard box 4- Go to the top strainer 5- Place the left bottom strainer in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e","video":"17169184628797625393.mp4"}
+{"uid":"13540116950189853697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13705955974216383665.mp4"}
+{"uid":"7269892412911916189","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box Q: immediate next step? \u003cPRED\u003eA: Close the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box Q: next 5 steps? \u003cPRED\u003eA: 1- Close the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Close the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose 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\nClose 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":"17900752917112219659.mp4"}
+{"uid":"10395329363105071254","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4886642810861716955.mp4"}
+{"uid":"3023143334908012145","text":"\u003ctask:success:discrete:True\u003e\npick up the strainer 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 strainer from the table.\n\u003c/PRED\u003e","video":"15831858987119490424.mp4"}
+{"uid":"1550535357727507718","text":"\u003ctask:success:discrete:True\u003e\nClose 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: Close the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box 16- Close the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box 16- Close the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"80375803329766278.mp4"}
+{"uid":"15252760013333771858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the jalapeno bag in the iron tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4220706019688568365.mp4"}
+{"uid":"17233382577936772937","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the lid of the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the lid of 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\ngrab the lid of the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: grab the lid of the box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up Q: immediate next step? \u003cPRED\u003eA: grab the lid of the box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the lid of the box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up Q: next 5 steps? \u003cPRED\u003eA: 1- grab the lid of the box. 2- move away from the box. 3- done\n\u003c/PRED\u003e","video":"2833801283925327989.mp4"}
+{"uid":"10908549123086126366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the top right strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the top right strainer in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6041548543115146367.mp4"}
+{"uid":"3832907547554160674","text":"\u003ctask:success:discrete:False\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer in the carton box 2- Place the left bottom strainer in the box 3- pick up the strainer from the table. 4- drop the strainer in the box. 5- Drag the box back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e","video":"3213550828605893187.mp4"}
+{"uid":"17998049045655016490","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the strainer in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strainer in the box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strainer in the box. 2- drop the strainer in the box. 3- Drag the box back 4- Push it forward 5- Move the flap up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"17457810136238440739.mp4"}
+{"uid":"2147925370797789252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10907720010218285625.mp4"}
+{"uid":"17280318525516980849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1918602765381943382.mp4"}
+{"uid":"7451957495808764517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the jar beside the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14530663483813201061.mp4"}
+{"uid":"574644452000123005","text":"\u003ctask:success:discrete:True\u003e\nDrop it in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop it in the cardboard box\n\u003c/PRED\u003e","video":"697617026329617271.mp4"}
+{"uid":"2029946041824539117","text":"\u003ctask:success:discrete:True\u003e\nPick the bottom strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 bottom strainer\n\u003c/PRED\u003e","video":"3803788426031055086.mp4"}
+{"uid":"11020787378127833495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink 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":"6371582647005991109.mp4"}
+{"uid":"17302359930860554507","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table Q: immediate next step? \u003cPRED\u003eA: place the strainer in the box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the strainer in the box. 2- drop the strainer in the box. 3- Drop the rightmost strainer in the box 4- Pick the bottom strainer 5- Drop it in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the strainer in the box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the strainer 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: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: place the strainer in the box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the strainer 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":"10568394090977073542.mp4"}
+{"uid":"11297406052303805499","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":"11497366114097865343.mp4"}
+{"uid":"875544734540319818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue marker 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":"4449741303724613314.mp4"}
+{"uid":"8924225206681553358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the book on the top of the existing book in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11884850624419017233.mp4"}
+{"uid":"4602701163976913429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14048672738968892886.mp4"}
+{"uid":"18253896060731916546","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the strainer on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the strainer on the table 2- pick up the strainer from the table. 3- drop the strainer in the box. 4- Drag the box back 5- Push it forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Grasp the strainer on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Grasp the strainer on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16519236237736901648.mp4"}
+{"uid":"4351937351275161494","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: immediate next step? \u003cPRED\u003eA: Drop it in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop it in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Drop it in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop it in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop it in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop it in the cardboard box 2- Go to the top strainer 3- Place the left bottom strainer in the box 4- pick up the strainer from the table. 5- drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop it in the cardboard box\n\u003c/PRED\u003e","video":"5872851444075636408.mp4"}
+{"uid":"15163193323742971025","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the rightmost strainer in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the rightmost strainer in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. Q: immediate next step? \u003cPRED\u003eA: Drop the rightmost strainer in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the rightmost strainer in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Drop the rightmost strainer in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the rightmost strainer in the box 2- Pick the bottom strainer 3- Drop it in the cardboard box 4- Go to the top strainer 5- Place the left bottom strainer in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the rightmost strainer in the box\n\u003c/PRED\u003e","video":"6037542827881077742.mp4"}
+{"uid":"957239656382867069","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer in the carton box 2- Push it forward 3- Move the flap up 4- Hold the carton  box 5- Close the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e","video":"15331540707017706879.mp4"}
+{"uid":"7498471489271883188","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6158109836939459407.mp4"}
+{"uid":"12958389173990297398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the glass 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":"18178983554728529045.mp4"}
+{"uid":"13661003397384446855","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer on the table 2- Drag the box back 3- Push it forward 4- Move the flap up 5- Hold the carton  box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e","video":"3785898599895409668.mp4"}
+{"uid":"16805758572707991484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the strainer on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the strainer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick the strainer on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the strainer on the table 2- pick up the right strainer from the table. 3- drop the strainer in the box. 4- Drop the rightmost strainer in the box 5- Pick the bottom strainer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2945755780644150811.mp4"}
+{"uid":"1777311003023465772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"17275148418861633525.mp4"}
+{"uid":"13131712402007577738","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the top strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the top strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Go to the top strainer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Go to the top strainer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the top strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the top strainer 2- Place the left bottom strainer in the box 3- pick up the strainer from the table. 4- drop the strainer in the box. 5- Drag the box back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the top strainer\n\u003c/PRED\u003e","video":"14430449617381508446.mp4"}
+{"uid":"2624364962181442269","text":"\u003ctask:success:discrete:True\u003e\npick up the bottom right strainer 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 bottom right strainer from the table.\n\u003c/PRED\u003e","video":"12159364926942847614.mp4"}
+{"uid":"7780239626152890498","text":"\u003ctask:success:discrete:True\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e","video":"8670013266310796683.mp4"}
+{"uid":"15596039484884164656","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the strainer in the cardboard box 2- Drag the box back 3- Push it forward 4- Move the flap up 5- Hold the carton  box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the strainer in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Throw the strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: immediate next step? \u003cPRED\u003eA: pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the strainer 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 strainer from the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the strainer from the table. 2- Drag the box back 3- Push it forward 4- Move the flap up 5- Hold the carton  box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the strainer 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\nThrow the strainer in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: immediate next step? \u003cPRED\u003eA: Throw the strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the strainer in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the strainer in the cardboard box\n\u003c/PRED\u003e","video":"16525835996274970580.mp4"}
+{"uid":"9827655000298703046","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer on the table 2- Go to the top strainer 3- Place the left bottom strainer in the box 4- pick up the strainer from the table. 5- drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 strainer on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 strainer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e","video":"17720892540153270411.mp4"}
+{"uid":"4927439870102454296","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bottom right strainer 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 bottom right strainer from the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom right strainer from the table. 2- pick up the right strainer from the table. 3- drop the strainer in the box. 4- Drop the rightmost strainer in the box 5- Pick the bottom strainer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom right strainer from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom right strainer 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 bottom right strainer 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: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: pick up the bottom right strainer from the table.\n\u003c/PRED\u003e","video":"18085825031961128500.mp4"}
+{"uid":"17636542011288020583","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the flap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the flap 2- move away from the box. 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Grasp the flap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up Q: immediate next step? \u003cPRED\u003eA: Grasp the flap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the flap\n\u003c/PRED\u003e","video":"9748298301826092993.mp4"}
+{"uid":"806921254108318527","text":"\u003ctask:success:discrete:False\u003e\ndrop the strainer in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strainer 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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strainer in the box. 2- Push it forward 3- Move the flap up 4- Hold the carton  box 5- Close the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"15711495286299847753.mp4"}
+{"uid":"13082749771407495569","text":"\u003ctask:success:discrete:False\u003e\ndrop the strainer 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: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strainer in the box. 2- Place the left bottom strainer in the box 3- pick up the strainer from the table. 4- drop the strainer in the box. 5- Drag the box back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strainer 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":"5927864192722336261.mp4"}
+{"uid":"5477536404998590754","text":"\u003ctask:success:discrete:True\u003e\ngo closer to the top strainer on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the top strainer on the table.\n\u003c/PRED\u003e","video":"7404280733820748794.mp4"}
+{"uid":"5745262405489611235","text":"\u003ctask:success:discrete:True\u003e\nPlace the strainer in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the strainer in the carton box\n\u003c/PRED\u003e","video":"2598314581658958278.mp4"}
+{"uid":"15494688241828495936","text":"\u003ctask:success:discrete:True\u003e\nMove the flap up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the flap up\n\u003c/PRED\u003e","video":"11090873400340396030.mp4"}
+{"uid":"14687400746643778903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"17162661476014525029.mp4"}
+{"uid":"6441282198017580784","text":"\u003ctask:success:discrete:False\u003e\nPush it 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: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back Q: immediate next step? \u003cPRED\u003eA: Push it forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Push it forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push it forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush it forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back Q: next 5 steps? \u003cPRED\u003eA: 1- Push it forward 2- Move the flap up 3- Hold the carton  box 4- Close the carton box 5- move away from the box.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push it forward\n\u003c/PRED\u003e","video":"15876807909463016078.mp4"}
+{"uid":"14565868547571884414","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer on the table 2- pick up the strainer from the table. 3- drop the strainer in the box. 4- Drag the box back 5- Push it forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e","video":"2290636064894210925.mp4"}
+{"uid":"13745479525826821052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16699441985786011040.mp4"}
+{"uid":"16425665733239662071","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":"5488726951788919959.mp4"}
+{"uid":"2303406512474676827","text":"\u003ctask:success:discrete:True\u003e\ndrop the strainer in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"12262663099306594551.mp4"}
+{"uid":"4667318630199292286","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right strainer from the table. 2- Drop the rightmost strainer in the box 3- Pick the bottom strainer 4- Drop it in the cardboard box 5- Go to the top strainer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: pick up the right strainer from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right strainer from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right strainer from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table Q: immediate next step? \u003cPRED\u003eA: pick up the right strainer from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right strainer from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right strainer 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":"10943371060556587119.mp4"}
+{"uid":"4657130193356024854","text":"\u003ctask:success:discrete:False\u003e\nmove the box up a bit. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back Q: immediate next step? \u003cPRED\u003eA: move the box up a bit.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the box up a bit.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the box up a bit.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the box up a bit. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back Q: next 5 steps? \u003cPRED\u003eA: 1- move the box up a bit. 2- Close the carton box 3- move away from the box. 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: move the box up a bit.\n\u003c/PRED\u003e","video":"13630856016699075836.mp4"}
+{"uid":"9952516288566124281","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the carton box downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the carton box downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the carton box downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the carton box downwards 2- Hold the carton  box 3- Close the carton box 4- move away from the box. 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the carton box downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. Q: immediate next step? \u003cPRED\u003eA: Drag the carton box downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Drag the carton box downwards\n\u003c/PRED\u003e","video":"14494518112452515582.mp4"}
+{"uid":"8173456844926612859","text":"\u003ctask:success:discrete:True\u003e\ndrop the strainer in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"16992002930600388779.mp4"}
+{"uid":"9524059198382812710","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":"18201927973890984303.mp4"}
+{"uid":"1520247391899336666","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Drag the box back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the box back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. Q: immediate next step? \u003cPRED\u003eA: Drag the box back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the box back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the box back 2- Push it forward 3- Move the flap up 4- Hold the carton  box 5- Close the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the box back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the box 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","video":"12220307950339161086.mp4"}
+{"uid":"6341411121125765021","text":"\u003ctask:success:discrete:True\u003e\nclose the lid of 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: close the lid of the box.\n\u003c/PRED\u003e","video":"11441870680653609649.mp4"}
+{"uid":"11292292706780736971","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the bottom strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the bottom strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 bottom strainer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the bottom strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: immediate next step? \u003cPRED\u003eA: Pick the bottom strainer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick the bottom strainer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the bottom strainer 2- Go to the top strainer 3- Place the left bottom strainer in the box 4- pick up the strainer from the table. 5- drop the strainer in the box.\n\u003c/PRED\u003e","video":"10479948415921811008.mp4"}
+{"uid":"4058257116793948197","text":"\u003ctask:success:discrete:False\u003e\nPick up the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 strainer on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 coffee pods back into the case. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer on the table 2- pick up the right strainer from the table. 3- drop the strainer in the box. 4- Drop the rightmost strainer in the box 5- Pick the bottom strainer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e","video":"2155083670091517129.mp4"}
+{"uid":"7527482808782995629","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the strainer in the box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the strainer 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":"886605521156617526.mp4"}
+{"uid":"6511363699459945272","text":"\u003ctask:success:discrete:True\u003e\ndrop the strainer in the box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the strainer in the box.\n\u003c/PRED\u003e","video":"13630207688196528306.mp4"}
+{"uid":"10445204892432964349","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1874258397870579363.mp4"}
+{"uid":"8212804234880386918","text":"\u003ctask:success:discrete:True\u003e\nPick up the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 strainer on the table\n\u003c/PRED\u003e","video":"5330316558509361196.mp4"}
+{"uid":"2425269998624848263","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\nMove towards 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":"13686191246477581319.mp4"}
+{"uid":"14458650456644215686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18406718213954760653.mp4"}
+{"uid":"5164306163244129774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the royal gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16312632363143023220.mp4"}
+{"uid":"14253743232786808476","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":"8354768455402061711.mp4"}
+{"uid":"560758283932431372","text":"\u003ctask:success:discrete:True\u003e\nGrasp the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 strainer on the table\n\u003c/PRED\u003e","video":"11813111322557916926.mp4"}
+{"uid":"9115453293336438534","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward Q: immediate next step? \u003cPRED\u003eA: Hold the carton  box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Hold the carton  box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hold the carton  box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHold the carton  box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward Q: next 5 steps? \u003cPRED\u003eA: 1- Hold the carton  box 2- move away from the box. 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hold the carton  box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHold the carton  box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18223600404020580441.mp4"}
+{"uid":"6253915582573423282","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: immediate next step? \u003cPRED\u003eA: pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the strainer 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 strainer from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the strainer 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: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the strainer from the table. 2- Go to the top strainer 3- Place the left bottom strainer in the box 4- pick up the strainer from the table. 5- drop the strainer in the box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: pick up the strainer from the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the strainer 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":"6071115863806965106.mp4"}
+{"uid":"4333292096806815339","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the box up a bit.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the box up a bit. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"769115422408886688.mp4"}
+{"uid":"10150392502911284631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11712139127186549549.mp4"}
+{"uid":"10575314496992255668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"9498318427581841895.mp4"}
+{"uid":"11867206655356119621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2328448657867678039.mp4"}
+{"uid":"637316728664637810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9822015633899035725.mp4"}
+{"uid":"42914100288483310","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box 16- Close the carton box Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the box. 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 box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away 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: move away from the box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box 8- Go to the top strainer 9- Place the left bottom strainer in the box 10- pick up the strainer from the table. 11- drop the strainer in the box. 12- Drag the box back 13- Push it forward 14- Move the flap up 15- Hold the carton  box 16- Close the carton box Q: immediate next step? \u003cPRED\u003eA: move away from the box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: move away from the box.\n\u003c/PRED\u003e","video":"1337084275354488756.mp4"}
+{"uid":"16953507697125407867","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":"9793985379412056934.mp4"}
+{"uid":"5411893957848023611","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box Q: immediate next step? \u003cPRED\u003eA: go closer to the top strainer on the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: go closer to the top strainer on the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the top strainer on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: 1- Pick the strainer on the table 2- Place it in the cardboard box 3- pick up the right strainer from the table. 4- drop the strainer in the box. 5- Drop the rightmost strainer in the box 6- Pick the bottom strainer 7- Drop it in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the top strainer on the table. 2- pick up the strainer from the table. 3- drop the strainer in the box. 4- Drag the box back 5- Push it forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the top strainer on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the top strainer on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the top strainer on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14041082119488930298.mp4"}
+{"uid":"6202816331465519919","text":"\u003ctask:success:discrete:True\u003e\nmove the box downwards. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the box downwards.\n\u003c/PRED\u003e","video":"11283255305323677422.mp4"}
+{"uid":"7747465178331655912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13140750235126746219.mp4"}
+{"uid":"15545408557624534964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a brown 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":"1186199870909380883.mp4"}
+{"uid":"2148424364659980229","text":"\u003ctask:success:discrete:True\u003e\nPlace the strainer into the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the strainer into the carton box\n\u003c/PRED\u003e","video":"6096476440410263269.mp4"}
+{"uid":"2813255431708514589","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the top strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the top strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5824473279401336622.mp4"}
+{"uid":"7388498640207061095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose yellow markers tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3916086411986197557.mp4"}
+{"uid":"3976122534042726508","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":"3368587791705458976.mp4"}
+{"uid":"14625492237271519809","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place it in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place it in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put coffee pods back into the case Q: immediate next step? \u003cPRED\u003eA: Place it in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place it in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace it in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace it in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put coffee pods back into the case. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place it in the cardboard box 2- drop the strainer in the box. 3- Drop the rightmost strainer in the box 4- Pick the bottom strainer 5- Drop it in the cardboard box\n\u003c/PRED\u003e","video":"5126216747294015431.mp4"}
+{"uid":"3323902722940140753","text":"\u003ctask:success:discrete:True\u003e\nPick the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 strainer on the table\n\u003c/PRED\u003e","video":"17161789352378582705.mp4"}
+{"uid":"4944062072972218571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12222573116648030659.mp4"}
+{"uid":"8941582365320883933","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":"3681259292674791289.mp4"}
+{"uid":"5286276307446074135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"2207125632238157448.mp4"}
+{"uid":"1919470020271217503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the dates 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":"11864944170014066164.mp4"}
+{"uid":"4476979242251789582","text":"\u003ctask:success:discrete:True\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"15508913309940428701.mp4"}
+{"uid":"2567804860684522864","text":"\u003ctask:success:discrete:True\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"9819687809008109935.mp4"}
+{"uid":"6495797515050682539","text":"\u003ctask:success:discrete:False\u003e\nDrag the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the table top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Drag the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: immediate next step? \u003cPRED\u003eA: Drag the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the table top drawer 2- move your arm upwards 3- place the orange packet in the drawer 4- close the top drawer 5- move your arm close to the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the table top drawer\n\u003c/PRED\u003e","video":"12686308233765310868.mp4"}
+{"uid":"17660760070232046961","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- move your arm close to the top drawer handle 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"13171085573229770446.mp4"}
+{"uid":"16562391723799139827","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the orange packet 2- place the orange packet in the drawer 3- close the top drawer 4- move your arm close to the drawer 5- open the grippers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the orange packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm towards the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the orange packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer Q: immediate next step? \u003cPRED\u003eA: move your arm towards the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6187402984511695050.mp4"}
+{"uid":"8111045213898222256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the holder 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":"2441229569791873525.mp4"}
+{"uid":"2109814404623463004","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":"5900008378870999009.mp4"}
+{"uid":"9731396589865120718","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":"2896619537214426293.mp4"}
+{"uid":"3678913948383048724","text":"\u003ctask:success:discrete:False\u003e\nClose the table drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 table drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the table drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the table drawer 2- open the grippers 3- close the grippers 4- move your arm back 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the table drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the table drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Close the table drawer\n\u003c/PRED\u003e","video":"16489898460102799609.mp4"}
+{"uid":"3967073267870887041","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- place the orange packet in the drawer 3- close the top drawer 4- move your arm close to the drawer 5- open the grippers\n\u003c/PRED\u003e","video":"16846923576345269164.mp4"}
+{"uid":"2893793110071947513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14860848185945718851.mp4"}
+{"uid":"4937677168316295239","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the grippers 3- close the grippers 4- move your arm back 5- slightly move forward\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: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"17144361545735716721.mp4"}
+{"uid":"10218861799397174583","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- close the grippers 3- move your arm back 4- slightly move forward 5- move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5303093084051669091.mp4"}
+{"uid":"12800695398183506618","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the table top 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":"4149212846614997223.mp4"}
+{"uid":"4420003121318310509","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":"14698777799927590400.mp4"}
+{"uid":"3477927943285471445","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm up 2- slightly move forward 3- move your arm close to the top drawer handle 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16224409752671098664.mp4"}
+{"uid":"462355232283891190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"10041306199476987476.mp4"}
+{"uid":"1481123763258850735","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the orange snack packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the orange snack packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the orange snack packet 2- close the top drawer 3- move your arm close to the drawer 4- open the grippers 5- close the grippers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Grasp the orange snack packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer Q: immediate next step? \u003cPRED\u003eA: Grasp the orange snack packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the orange snack packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the orange snack packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12404738221265267685.mp4"}
+{"uid":"15749278549050352253","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":"17786448314159991483.mp4"}
+{"uid":"16179660132160253102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the orange snack packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the orange snack packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6604515806932862684.mp4"}
+{"uid":"11457355794090703316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink 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":"5905100201207259615.mp4"}
+{"uid":"2819166088023799491","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- slightly move forward 3- move your arm close to the top drawer handle 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"15124006979169361472.mp4"}
+{"uid":"11688275784527857217","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the drawer 2- close the grippers 3- move your arm back 4- slightly move forward 5- move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm close to the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to 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: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm close to the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to 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":"12946633794617784457.mp4"}
+{"uid":"16579940979415723764","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17862954679907833635.mp4"}
+{"uid":"11370356618936983456","text":"\u003ctask:success:discrete:True\u003e\nclose the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 grippers\n\u003c/PRED\u003e","video":"9853859726151055380.mp4"}
+{"uid":"11660166052714504207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow 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":"1583075410960000300.mp4"}
+{"uid":"11946296177043434501","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":"12239195525457748202.mp4"}
+{"uid":"17533537581197803119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the empty compartment Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12504679919043187215.mp4"}
+{"uid":"12893089619767984839","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the drawer 2- close the top drawer 3- move your arm close to the drawer 4- open the grippers 5- close the grippers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4326966671630864151.mp4"}
+{"uid":"12511647237046345686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16603544100125391741.mp4"}
+{"uid":"9672436756499589487","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the table top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the table top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange packet in the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the table top drawer 2- move your arm close to the drawer 3- open the grippers 4- close the grippers 5- move your arm back\n\u003c/PRED\u003e","video":"13628057542018016585.mp4"}
+{"uid":"18127911546981585371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9713707300117401976.mp4"}
+{"uid":"13372507640107696478","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the top 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":"10862296596586674445.mp4"}
+{"uid":"9001052158487017468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12740638949310688489.mp4"}
+{"uid":"12081759433072761574","text":"\u003ctask:success:discrete:False\u003e\nOpen the table drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 table drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: immediate next step? \u003cPRED\u003eA: Open the table drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the table drawer 2- place the orange packet in the drawer 3- close the top drawer 4- move your arm close to the drawer 5- open the grippers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the table drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the table drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Open the table drawer\n\u003c/PRED\u003e","video":"848343591263519139.mp4"}
+{"uid":"13695540541743792605","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the grippers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 grippers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back Q: immediate next step? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- close the grippers 2- move your arm close to the top drawer handle 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8919069675922574742.mp4"}
+{"uid":"5315400113872542726","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back 11- slightly move forward 12- move your arm close to the top drawer handle Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back 11- slightly move forward 12- move your arm close to the top drawer handle Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the top drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"678390041205848753.mp4"}
+{"uid":"10309663884905180595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"9165134038078336836.mp4"}
+{"uid":"12988081267345082082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab a 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":"11992748687523308289.mp4"}
+{"uid":"14781875289110891798","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: pull the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: immediate next step? \u003cPRED\u003eA: pull the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the top drawer 2- move your arm upwards 3- place the orange packet in the drawer 4- close the top drawer 5- move your arm close to the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the top drawer\n\u003c/PRED\u003e","video":"18920959027138536.mp4"}
+{"uid":"13330549254544035240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the lid of glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5325822610700662243.mp4"}
+{"uid":"15717874727906064181","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the top drawer 2- open the top drawer 3- move your arm upwards 4- place the orange packet in the drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move to the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the top drawer\n\u003c/PRED\u003e","video":"1577608017469430548.mp4"}
+{"uid":"835981359862933120","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- place the orange packet in the drawer 3- close the top drawer 4- move your arm close to the drawer 5- open the grippers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"9675780427951512767.mp4"}
+{"uid":"13508530109247366218","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drag the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: immediate next step? \u003cPRED\u003eA: drag the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drag the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrag the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: drag the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrag the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drag the top drawer 2- move your arm upwards 3- place the orange packet in the drawer 4- close the top drawer 5- move your arm close to the drawer\n\u003c/PRED\u003e","video":"14624855087160685380.mp4"}
+{"uid":"15615477211494068275","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2926970168911784749.mp4"}
+{"uid":"5452092432407796297","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange packet in the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange packet in the top drawer 2- move your arm close to the drawer 3- open the grippers 4- close the grippers 5- move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: drop the orange packet in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange packet in the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 packet in the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange packet in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange packet in the top drawer\n\u003c/PRED\u003e","video":"9431707893751328693.mp4"}
+{"uid":"11290200044711060829","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":"17494509696730973007.mp4"}
+{"uid":"5394070239174229897","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the grippers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the grippers\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the grippers 2- move your arm back 3- slightly move forward 4- move your arm close to the top drawer handle 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: open the grippers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the grippers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer Q: immediate next step? \u003cPRED\u003eA: open the grippers\n\u003c/PRED\u003e","video":"1701850796184941279.mp4"}
+{"uid":"18352775805173397695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo away from 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":"17659552944990420775.mp4"}
+{"uid":"12137862891651239520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2080369451248048272.mp4"}
+{"uid":"14380826518736359885","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the table drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the table 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":"16567778923485784745.mp4"}
+{"uid":"8117784929874105156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- open the top drawer 3- move your arm upwards 4- place the orange packet in the drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13118307563074724512.mp4"}
+{"uid":"2605266487207255771","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange snack packet into the table drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange snack packet into the table drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange snack packet into the table drawer 2- move your arm close to the drawer 3- open the grippers 4- close the grippers 5- move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange snack packet into the table drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Drop the orange snack packet into the table drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Drop the orange snack packet into the table drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange snack packet into the table drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12865599133746326249.mp4"}
+{"uid":"1891576270234074721","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange packet 2- close the top drawer 3- move your arm close to the drawer 4- open the grippers 5- close the grippers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Pick the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Pick the orange packet\n\u003c/PRED\u003e","video":"11530388631139231000.mp4"}
+{"uid":"17862501512150123686","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the table top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the table top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table top drawer 2- open the top drawer 3- move your arm upwards 4- place the orange packet in the drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Move towards the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15245669934960834654.mp4"}
+{"uid":"12219215763703288074","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move 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: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move 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: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- move your arm close to the top drawer handle 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"2213563179978238429.mp4"}
+{"uid":"6179492155708014862","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the table top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the table top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the table top drawer 2- close the grippers 3- move your arm back 4- slightly move forward 5- move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Close the table top drawer\n\u003c/PRED\u003e","video":"556660070536424025.mp4"}
+{"uid":"4876466041248856367","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange packet in the open drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange packet in the open drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 packet in the open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: drop the orange packet in the open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange packet in the open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange packet in the open drawer 2- move your arm close to the drawer 3- open the grippers 4- close the grippers 5- move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange packet in the open drawer\n\u003c/PRED\u003e","video":"8002986609997530666.mp4"}
+{"uid":"3854145099976809974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"4169680771654437901.mp4"}
+{"uid":"4648623333633925168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut fifth orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16362833839273330135.mp4"}
+{"uid":"2562167030970718992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10253560841868786843.mp4"}
+{"uid":"4733846461622495950","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":"14578310022338977000.mp4"}
+{"uid":"15032229326056040896","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer Q: immediate next step? \u003cPRED\u003eA: close the grippers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the grippers 2- slightly move forward 3- move your arm close to the top drawer handle 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 grippers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11693688109743013521.mp4"}
+{"uid":"3464019466776173505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15726070911468107989.mp4"}
+{"uid":"11806208726986183721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- open the grippers 3- close the grippers 4- move your arm back 5- slightly move forward\n\u003c/PRED\u003e","video":"8586289943859625966.mp4"}
+{"uid":"14928606965295513324","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm to the right 2- move your arm back 3- slightly move forward 4- move your arm close to the top drawer handle 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer Q: immediate next step? \u003cPRED\u003eA: slightly move your arm to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: slightly move your arm to the right\n\u003c/PRED\u003e","video":"5071690472608525501.mp4"}
+{"uid":"5775521910659818588","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Move towards the table drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table drawer 2- open the top drawer 3- move your arm upwards 4- place the orange packet in the drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the table drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the table drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the table drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 table drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15116000903797023285.mp4"}
+{"uid":"18370005349202017437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the royal gold packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4487194879984069485.mp4"}
+{"uid":"14610422628210874307","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the drawer\n\u003c/PRED\u003e","video":"13071136861350497248.mp4"}
+{"uid":"12695582716547908186","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":"13826032570354859290.mp4"}
+{"uid":"13158170797109570716","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the top 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":"11043206337831879827.mp4"}
+{"uid":"6184018178638798171","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: touch the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back Q: immediate next step? \u003cPRED\u003eA: touch the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- touch the top drawer 2- done\n\u003c/PRED\u003e","video":"4350876484320431097.mp4"}
+{"uid":"12811419698787039171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5506884802029194248.mp4"}
+{"uid":"4966729677906607794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"595686396405591718.mp4"}
+{"uid":"2056438814383298373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1498015810831490899.mp4"}
+{"uid":"16764873745527674641","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer Q: immediate next step? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the table top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 table top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the table top drawer 2- place the orange packet in the drawer 3- close the top drawer 4- move your arm close to the drawer 5- open the grippers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the table top drawer\n\u003c/PRED\u003e","video":"10303062543553088664.mp4"}
+{"uid":"11426087410091097587","text":"\u003ctask:success:discrete:True\u003e\nopen the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 grippers\n\u003c/PRED\u003e","video":"2325823072032856757.mp4"}
+{"uid":"7935033384035136597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17209090340919699564.mp4"}
+{"uid":"17763124290820841708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6270703336733307514.mp4"}
+{"uid":"16521859515024232686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10861618137227728610.mp4"}
+{"uid":"15017600117127566286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace butter knife inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7847534233157863581.mp4"}
+{"uid":"13937789354239047468","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15299971401362977423.mp4"}
+{"uid":"3759771310833899264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black object in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4019962417180484771.mp4"}
+{"uid":"8770616128093736022","text":"\u003ctask:success:discrete:True\u003e\nOpen the table drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the table drawer\n\u003c/PRED\u003e","video":"2692188915590022815.mp4"}
+{"uid":"12867454852574319730","text":"\u003ctask:success:discrete:True\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"918881162223797253.mp4"}
+{"uid":"7781173780319746925","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back 11- slightly move forward Q: immediate next step? \u003cPRED\u003eA: move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the top drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back 11- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the top drawer handle 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the top drawer handle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the top drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9190464578654077817.mp4"}
+{"uid":"14987384074950141454","text":"\u003ctask:success:discrete:True\u003e\nslightly move your arm to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move your arm to the right\n\u003c/PRED\u003e","video":"6887851012121745077.mp4"}
+{"uid":"14037883271021348748","text":"\u003ctask:success:discrete:True\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"848021005440759536.mp4"}
+{"uid":"13083033779429722382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange snack packet into the table drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange snack packet into the table 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":"258175629121151093.mp4"}
+{"uid":"2459316634784969219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon 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":"3878612860352303070.mp4"}
+{"uid":"57082701041973190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the table top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the table top 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":"11210492338546077431.mp4"}
+{"uid":"12056140688666659231","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the top drawer 2- place the orange packet in the drawer 3- close the top drawer 4- move your arm close to the drawer 5- open the grippers\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top drawer\n\u003c/PRED\u003e","video":"13102013555376558833.mp4"}
+{"uid":"14480421897971949575","text":"\u003ctask:success:discrete:False\u003e\nmove away from the top darwer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 top darwer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the top darwer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the top darwer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: move away from the top darwer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer Q: immediate next step? \u003cPRED\u003eA: move away from the top darwer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the top darwer 2- close the grippers 3- move your arm back 4- slightly move forward 5- move your arm close to the top drawer handle\n\u003c/PRED\u003e","video":"9317823014065269810.mp4"}
+{"uid":"17662858598275778239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to the house plants on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"476934177374411282.mp4"}
+{"uid":"8885489753521681111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the green 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":"18202979121121777295.mp4"}
+{"uid":"9550495453859184997","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- grab the top drawer handle 2- open the top drawer 3- move your arm upwards 4- place the orange packet in the drawer 5- close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the top drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer Q: immediate next step? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the top drawer handle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the top drawer handle\n\u003c/PRED\u003e","video":"371228571775471906.mp4"}
+{"uid":"1502284436820036392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange packet 2- close the top drawer 3- move your arm close to the drawer 4- open the grippers 5- close the grippers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards Q: immediate next step? \u003cPRED\u003eA: grab the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: grab the orange packet\n\u003c/PRED\u003e","video":"13740606799479315490.mp4"}
+{"uid":"11036494705533333593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5159405772983677738.mp4"}
+{"uid":"4422852156687836524","text":"\u003ctask:success:discrete:True\u003e\ntouch the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back 11- touch the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer 4- move your arm upwards 5- place the orange packet in the drawer 6- close the top drawer 7- move your arm close to the drawer 8- open the grippers 9- close the grippers 10- move your arm back 11- touch the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the top drawer\n\u003c/PRED\u003e","video":"16668232789280528871.mp4"}
+{"uid":"16821564167982503500","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange packet 2- close the top drawer 3- move your arm close to the drawer 4- open the grippers 5- close the grippers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: hide snack in cabinet and locking the drawer. last 20 steps: 1- move your arm towards the top drawer 2- pull the top drawer 3- open the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange packet\n\u003c/PRED\u003e","video":"12908203091550518158.mp4"}
+{"uid":"16460975818261458692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13504721661566521740.mp4"}
+{"uid":"17356048323049395279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"798636477189400169.mp4"}
+{"uid":"11449477981725424730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2852123217986330955.mp4"}
+{"uid":"1420227887548568213","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the shelf 2- place the note pad in the middle shelf 3- slightly push the books 4- Move away from the cabinet 5- Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e","video":"5713600830163909457.mp4"}
+{"uid":"17804534808183885560","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left door of the cabinet 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left door of the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e","video":"10222788837069307202.mp4"}
+{"uid":"13536860560166265000","text":"\u003ctask:success:discrete:True\u003e\nMove close to the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the middle shelf\n\u003c/PRED\u003e","video":"16186596399609815326.mp4"}
+{"uid":"15891023284646014072","text":"\u003ctask:success:discrete:True\u003e\nAdjust the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the notepad\n\u003c/PRED\u003e","video":"9591790632702753799.mp4"}
+{"uid":"7287656379305300383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14725574294745357891.mp4"}
+{"uid":"1253976753040932385","text":"\u003ctask:success:discrete:False\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm back 2- Move towards the left door of the cabinet 3- close the left door of the cupboard 4- Slightly move to the right 5- Close the cupboard door\n\u003c/PRED\u003e","video":"12914972805367794426.mp4"}
+{"uid":"16911801506412228082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17895933812980260453.mp4"}
+{"uid":"1013632198381316744","text":"\u003ctask:success:discrete:True\u003e\nMove the note pad to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the note pad to the left\n\u003c/PRED\u003e","video":"5771463063459355566.mp4"}
+{"uid":"5636334089884851014","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cupboard left door 2- Close the cupboard door 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Close the cupboard left door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cupboard left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cupboard left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: Close the cupboard left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cupboard 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 cupboard left door\n\u003c/PRED\u003e","video":"11693997853071420095.mp4"}
+{"uid":"18043383136459082955","text":"\u003ctask:success:discrete:True\u003e\nSlightly push the cupboard 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: Slightly push the cupboard door\n\u003c/PRED\u003e","video":"12614512930028502290.mp4"}
+{"uid":"17185987579583381213","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":"1571707008751261024.mp4"}
+{"uid":"2195385893812941354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the notepad on another notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the notepad on another notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"632767008605884571.mp4"}
+{"uid":"13822921366423803665","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the note pad\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Pick up the note pad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: immediate next step? \u003cPRED\u003eA: Pick up the note pad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the note pad 2- Move close to the middle shelf 3- place the note pad in the middle shelf 4- slightly push the books 5- Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the note pad\n\u003c/PRED\u003e","video":"8991204597000802662.mp4"}
+{"uid":"6259958141975969625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange object 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":"14755854809025837920.mp4"}
+{"uid":"8930312127619494649","text":"\u003ctask:success:discrete:False\u003e\nClose the right cupboard 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: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Close the right cupboard door 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the right cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the right cupboard door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: Close the right cupboard door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Close the right cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the right cupboard 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":"8886481536548697981.mp4"}
+{"uid":"18445503969255210618","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the left door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the left door of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- close the left door of the cupboard 2- Close the cupboard door 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: close the left door of the cupboard\n\u003c/PRED\u003e","video":"2085068253211058463.mp4"}
+{"uid":"11721679226682880307","text":"\u003ctask:success:discrete:True\u003e\nGrab the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 notepad\n\u003c/PRED\u003e","video":"16639848089664377049.mp4"}
+{"uid":"17404963536787036848","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm back 2- Move towards the left door of the cabinet 3- close the left door of the cupboard 4- Slightly move to the right 5- Close the cupboard door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e","video":"4094929406175521120.mp4"}
+{"uid":"11979062694674772560","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16681145581165539415.mp4"}
+{"uid":"1011194783948809455","text":"\u003ctask:success:discrete:False\u003e\nslightly push the rack 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\nslightly push the rack 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: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: slightly push the rack door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the rack door 2- Slightly move to the right 3- Close the cupboard door 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the rack door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet Q: immediate next step? \u003cPRED\u003eA: slightly push the rack door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the rack door\n\u003c/PRED\u003e","video":"7611143299479013550.mp4"}
+{"uid":"3519197285550236645","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":"8864927387476373018.mp4"}
+{"uid":"12714395180367721012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14563367866035590759.mp4"}
+{"uid":"5045740294745458700","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the cupboard left door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the cupboard 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","video":"11232701772266093901.mp4"}
+{"uid":"3826128257401348871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drag the notepad to the bottom of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrag the notepad to the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14667810864301714323.mp4"}
+{"uid":"11847004733709467930","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the left door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6478952907036460527.mp4"}
+{"uid":"8509571697247053592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoon 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":"16204067171677115768.mp4"}
+{"uid":"6144566479429626029","text":"\u003ctask:success:discrete:False\u003e\nplace the notepad on another notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- place the notepad on another notepad 2- slightly push the books 3- Move away from the cabinet 4- Move towards the left door of the cabinet 5- close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the notepad on another notepad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: immediate next step? \u003cPRED\u003eA: place the notepad on another notepad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: place the notepad on another notepad\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the notepad on another notepad\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the notepad on another notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11541598833097728366.mp4"}
+{"uid":"18371841727308733588","text":"\u003ctask:success:discrete:True\u003e\nplace the note pad in the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the note pad in the middle shelf\n\u003c/PRED\u003e","video":"11996128553669239545.mp4"}
+{"uid":"1562793120123306409","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard 11- close the cupboard right door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the cupboard right door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard 11- close the cupboard right door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the cupboard right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3419515204115124626.mp4"}
+{"uid":"9144680603013099795","text":"\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e","video":"6187079363300620568.mp4"}
+{"uid":"16658549539093272846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the small holder at left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10156180810747196482.mp4"}
+{"uid":"2469580552610618679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: grab the note pad\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the note pad 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the note pad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: grab the note pad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the note pad\n\u003c/PRED\u003e","video":"12589192379581692593.mp4"}
+{"uid":"7603729112513418274","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12368634551178573750.mp4"}
+{"uid":"9423173155846777422","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the notepad 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e","video":"4932568591692268719.mp4"}
+{"uid":"10227403026751383209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5266268627275189382.mp4"}
+{"uid":"15162743982805670522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7811621280111694728.mp4"}
+{"uid":"17170560716206834034","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly push the books\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly push the books Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4937666875089712399.mp4"}
+{"uid":"4285375607179111449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7427749184518502427.mp4"}
+{"uid":"4758327237761414680","text":"\u003ctask:success:discrete:True\u003e\nmove close to the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e","video":"2215135271175130832.mp4"}
+{"uid":"4243739054936550479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the middle screen cleaning wipe 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":"9177709038458140873.mp4"}
+{"uid":"16507916654109053101","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- close the left door of the cupboard 3- Slightly move to the right 4- Close the cupboard door 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"5723797003127860296.mp4"}
+{"uid":"10880277698945205476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace two spoons in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"838933467439929535.mp4"}
+{"uid":"7754660431224445943","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: Close the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Close the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the left door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Close the left door of the cabinet 2- Slightly move to the right 3- Close the cupboard door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the left door of the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 of the cabinet\n\u003c/PRED\u003e","video":"925055232554805310.mp4"}
+{"uid":"11171367224391684062","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard 11- Close the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the cupboard 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard 11- Close the cupboard door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16121890210906518203.mp4"}
+{"uid":"8746418463519869001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13999378437280784399.mp4"}
+{"uid":"5316513477846924661","text":"\u003ctask:success:discrete:False\u003e\nMove towards the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: immediate next step? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cupboard 2- place the note pad in the middle shelf 3- slightly push the books 4- Move away from the cabinet 5- Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e","video":"8298715525215113017.mp4"}
+{"uid":"3182405411470282157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet from tray to counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6933035914028580341.mp4"}
+{"uid":"10462106527801200568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cushion on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6747696776882766224.mp4"}
+{"uid":"11878041477888263251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the honey 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":"15227386522532534917.mp4"}
+{"uid":"9592749146033416358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5563275111883462848.mp4"}
+{"uid":"3193659628401535402","text":"\u003ctask:success:discrete:True\u003e\nGrab the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 notepad\n\u003c/PRED\u003e","video":"8416834272347304072.mp4"}
+{"uid":"511828934581141336","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: slightly push the books\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the books\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the books Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the books Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the books\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf Q: immediate next step? \u003cPRED\u003eA: slightly push the books\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the books 2- Move away from the cabinet 3- Move towards the left door of the cabinet 4- close the left door of the cupboard 5- Slightly move to the right\n\u003c/PRED\u003e","video":"13510971990864146208.mp4"}
+{"uid":"13212730459912675540","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":"12773008772651571538.mp4"}
+{"uid":"14782143999806287177","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly push the note pad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Slightly push the note pad\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly push the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly push the note pad 2- Move away from the cabinet 3- Move towards the left door of the cabinet 4- close the left door of the cupboard 5- Slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf Q: immediate next step? \u003cPRED\u003eA: Slightly push the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly push the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly push the note pad\n\u003c/PRED\u003e","video":"5942352399460480141.mp4"}
+{"uid":"480279227067537021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the notepad on another note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the notepad on another note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9202134681981423709.mp4"}
+{"uid":"10603489953074708603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4922471487084799254.mp4"}
+{"uid":"11904905822608784797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- Close the right door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the right door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 right door of the cabinet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- Close the right door of the cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12329865596368651631.mp4"}
+{"uid":"13230898213865009144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess pieces 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":"12316059564574241954.mp4"}
+{"uid":"17900684502534369586","text":"\u003ctask:success:discrete:False\u003e\nMove the note pad to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: immediate next step? \u003cPRED\u003eA: pick the notepad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: pick the notepad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the note pad to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the note pad to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 note pad to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 notepad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- pick the notepad 2- Move close to the middle shelf 3- place the note pad in the middle shelf 4- slightly push the books 5- Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move the note pad to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the notepad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Move the note pad to the left 2- Move close to the middle shelf 3- place the note pad in the middle shelf 4- slightly push the books 5- Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: immediate next step? \u003cPRED\u003eA: Move the note pad to the left\n\u003c/PRED\u003e","video":"17826209028360628431.mp4"}
+{"uid":"10037632838723296892","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14129106289214199047.mp4"}
+{"uid":"3577785260955202157","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":"15319496148478634963.mp4"}
+{"uid":"2632437261979635021","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the left 2- close the left door of the cupboard 3- Slightly move to the right 4- Close the cupboard door 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e","video":"6507344829035262117.mp4"}
+{"uid":"10015850990351080474","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":"13325401835877300580.mp4"}
+{"uid":"15857533453746107400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the notepad 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: grasp the notepad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: grasp the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 notepad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the notepad\n\u003c/PRED\u003e","video":"6904274626027283625.mp4"}
+{"uid":"17363397901565990386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16315924128279874883.mp4"}
+{"uid":"8872309397166266910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the snack packet into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15622711122876801335.mp4"}
+{"uid":"7398509413379920528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"107872462253445703.mp4"}
+{"uid":"12983113570846681779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note 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":"17641738940256942487.mp4"}
+{"uid":"12248059633224472368","text":"\u003ctask:success:discrete:True\u003e\nClose the cupboard 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: Close the cupboard door\n\u003c/PRED\u003e","video":"9487681186129423521.mp4"}
+{"uid":"5332962002998685613","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- Close the right cupboard door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the right cupboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the right cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- Close the right cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18203197297452785379.mp4"}
+{"uid":"2464879426344415615","text":"\u003ctask:success:discrete:True\u003e\npick the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 notepad\n\u003c/PRED\u003e","video":"4170667303587476526.mp4"}
+{"uid":"10012608115584030339","text":"\u003ctask:success:discrete:True\u003e\nMove towards the left door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left door of the cabinet\n\u003c/PRED\u003e","video":"7725414287894054204.mp4"}
+{"uid":"12302248011723866098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: immediate next step? \u003cPRED\u003eA: pick up the note pad\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 note pad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: pick up the note pad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the note pad 2- Move towards the cupboard 3- Move close to the middle shelf 4- place the note pad in the middle shelf 5- slightly push the books\n\u003c/PRED\u003e","video":"17620166117792990384.mp4"}
+{"uid":"14499515092835622316","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7093646820512212197.mp4"}
+{"uid":"812626649253102091","text":"\u003ctask:success:discrete:True\u003e\ngrab the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 note pad\n\u003c/PRED\u003e","video":"9393201014684495361.mp4"}
+{"uid":"8395763742172125854","text":"\u003ctask:success:discrete:False\u003e\nPlace the notepad on another note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 notepad on another note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 notepad on another note pad\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the notepad on another note pad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: immediate next step? \u003cPRED\u003eA: Place the notepad on another note pad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Place the notepad on another note pad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad on another note pad 2- slightly push the books 3- Move away from the cabinet 4- Move towards the left door of the cabinet 5- close the left door of the cupboard\n\u003c/PRED\u003e","video":"16193269338563736445.mp4"}
+{"uid":"16618721829868414242","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the middle row of the cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the middle row of the cabinet 2- place the note pad in the middle shelf 3- slightly push the books 4- Move away from the cabinet 5- Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the middle row of the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: immediate next step? \u003cPRED\u003eA: Move towards the middle row of the cabinet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move towards the middle row of the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the middle row of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 middle row of the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6563182203362494521.mp4"}
+{"uid":"12981046943924001745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2634575363840950294.mp4"}
+{"uid":"11587374496885094776","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5792592080360653021.mp4"}
+{"uid":"13939081041380918558","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":"15447976419609136297.mp4"}
+{"uid":"3313533238561721399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"547329413019003536.mp4"}
+{"uid":"3839113317095237371","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard Q: immediate next step? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cupboard door 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cupboard 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: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cupboard 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":"8878705129028413898.mp4"}
+{"uid":"11070752890463515189","text":"\u003ctask:success:discrete:True\u003e\nPlace the notepad in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the notepad in the shelf\n\u003c/PRED\u003e","video":"10788307842213582871.mp4"}
+{"uid":"1872889398236084342","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the middle shelf 2- slightly push the books 3- Move away from the cabinet 4- Move towards the left door of the cabinet 5- close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: immediate next step? \u003cPRED\u003eA: Move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the middle shelf\n\u003c/PRED\u003e","video":"15245295065015305063.mp4"}
+{"uid":"14874676727014508481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18230415435755453993.mp4"}
+{"uid":"16395931618695940893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9907294249248812376.mp4"}
+{"uid":"10145595117343574348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tape machine on left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13712765499831219353.mp4"}
+{"uid":"537719895463021335","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm back 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e","video":"16404252065251187009.mp4"}
+{"uid":"14919024336705186732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cleaning brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6070812898786188670.mp4"}
+{"uid":"10269624292129513902","text":"\u003ctask:success:discrete:False\u003e\nmove close to the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the middle shelf 2- place the note pad in the middle shelf 3- slightly push the books 4- Move away from the cabinet 5- Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: immediate next step? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the middle shelf\n\u003c/PRED\u003e","video":"3135062084121773705.mp4"}
+{"uid":"10461820390580973116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up two white packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3856450250550436693.mp4"}
+{"uid":"14625523019969556817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1357076004354612765.mp4"}
+{"uid":"4020405575118139674","text":"\u003ctask:success:discrete:True\u003e\nSlightly push the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly push the note pad\n\u003c/PRED\u003e","video":"11941873440160252457.mp4"}
+{"uid":"11268440950772264623","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the notepad from the table 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the notepad from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the notepad 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: Grasp the notepad from the table\n\u003c/PRED\u003e","video":"13109290939546398813.mp4"}
+{"uid":"14598905381724413318","text":"\u003ctask:success:discrete:True\u003e\nClose the cupboard 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: Close the cupboard left door\n\u003c/PRED\u003e","video":"446925638619373133.mp4"}
+{"uid":"15019811524159911444","text":"\u003ctask:success:discrete:True\u003e\nmove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e","video":"5505288483018961279.mp4"}
+{"uid":"5641239602576726847","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Adjust the notepad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the notepad 2- Move away from the cabinet 3- Move towards the left door of the cabinet 4- close the left door of the cupboard 5- Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the notepad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf Q: immediate next step? \u003cPRED\u003eA: Adjust the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 notepad\n\u003c/PRED\u003e","video":"10045378209833961092.mp4"}
+{"uid":"2835080602565882489","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the notepad 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: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the notepad from the table 2- Pick up the note pad 3- Move towards the cupboard 4- Move close to the middle shelf 5- place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Grasp the notepad from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the notepad 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":"8491641140639791604.mp4"}
+{"uid":"1723183624200812022","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- place the note pad in the middle shelf 2- slightly push the books 3- Move away from the cabinet 4- Move towards the left door of the cabinet 5- close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: immediate next step? \u003cPRED\u003eA: place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the note pad in the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the note pad in the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the note pad in the middle shelf\n\u003c/PRED\u003e","video":"15951565031929108767.mp4"}
+{"uid":"10078735413927671462","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":"2977530517768770175.mp4"}
+{"uid":"7271630903585907727","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the left 2- Move close to the middle shelf 3- place the note pad in the middle shelf 4- slightly push the books 5- Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e","video":"318469026420146332.mp4"}
+{"uid":"14062401990430964504","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":"8564741869852762518.mp4"}
+{"uid":"13135501398785826728","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left door of the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet Q: immediate next step? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left door of the cabinet 2- close the left door of the cupboard 3- Slightly move to the right 4- Close the cupboard door 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move towards the left door of the cabinet\n\u003c/PRED\u003e","video":"6238520846966830886.mp4"}
+{"uid":"17544774879880373572","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the notepad 2- Move towards the cupboard 3- Move close to the middle shelf 4- place the note pad in the middle shelf 5- slightly push the books\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table Q: immediate next step? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the notepad\n\u003c/PRED\u003e","video":"4028385267580237986.mp4"}
+{"uid":"18165984575334675584","text":"\u003ctask:success:discrete:False\u003e\nSlightly push the cupboard 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\nSlightly push the cupboard 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: Slightly push the cupboard door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet Q: immediate next step? \u003cPRED\u003eA: Slightly push the cupboard door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly push the cupboard door 2- Slightly move to the right 3- Close the cupboard door 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Slightly push the cupboard door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly push the cupboard door\n\u003c/PRED\u003e","video":"4029224783621181650.mp4"}
+{"uid":"4796887082121088260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2411681507837754428.mp4"}
+{"uid":"16626706346948068375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4625702502215123386.mp4"}
+{"uid":"8418085626990934501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut second scoop of pista in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14493665423751159855.mp4"}
+{"uid":"15997687374958610385","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the note pad in the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Place the note pad in the middle shelf 2- slightly push the books 3- Move away from the cabinet 4- Move towards the left door of the cabinet 5- close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the note pad in the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard Q: immediate next step? \u003cPRED\u003eA: Place the note pad in the middle shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the note pad in the middle shelf\n\u003c/PRED\u003e","video":"9234137028094405771.mp4"}
+{"uid":"3948896069456135315","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: close the cupboard left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cupboard 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: close the cupboard left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- close the cupboard left door 2- Slightly move to the right 3- Close the cupboard door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cupboard 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cupboard left door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: close the cupboard left door\n\u003c/PRED\u003e","video":"9166664429975277311.mp4"}
+{"uid":"12552253547879384895","text":"\u003ctask:success:discrete:True\u003e\nmove away from 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: move away from the drawer\n\u003c/PRED\u003e","video":"16847303102544590948.mp4"}
+{"uid":"13207912694307401283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7111464470994474597.mp4"}
+{"uid":"4533323866664677820","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Close the right door of the cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Close the right door of the cabinet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the right door of the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: Close the right door of the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the right door of the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 right door of the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the right door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9596647567383415625.mp4"}
+{"uid":"1508650118421228550","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move the note pad 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 note pad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move the note pad\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move the note pad\n\u003c/PRED\u003e","video":"157231944279092984.mp4"}
+{"uid":"18010059775319365693","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2327293464529865212.mp4"}
+{"uid":"1697224423696235623","text":"\u003ctask:success:discrete:True\u003e\nmove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm back\n\u003c/PRED\u003e","video":"14658109479824312296.mp4"}
+{"uid":"14418594069042797075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the left sleeve of t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12290444699264851788.mp4"}
+{"uid":"5089958685359843475","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":"4181926572793308414.mp4"}
+{"uid":"4615488128299197601","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad in the shelf 2- slightly push the books 3- Move away from the cabinet 4- Move towards the left door of the cabinet 5- close the left door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the notepad in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the notepad in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18071569155672163167.mp4"}
+{"uid":"11029540550413762899","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: immediate next step? \u003cPRED\u003eA: move to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: next 5 steps? \u003cPRED\u003eA: 1- move to the cupboard 2- Move close to the middle shelf 3- place the note pad in the middle shelf 4- slightly push the books 5- Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1278668662512154035.mp4"}
+{"uid":"9592501940165869629","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4258569991560585438.mp4"}
+{"uid":"7795939474572840259","text":"\u003ctask:success:discrete:False\u003e\nclose the right door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: close the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the right door of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- close the right door of the cupboard 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard Q: immediate next step? \u003cPRED\u003eA: close the right door of the cupboard\n\u003c/PRED\u003e","video":"3837127439344743289.mp4"}
+{"uid":"18150219267686565731","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15014755533625527399.mp4"}
+{"uid":"10324464484857636749","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":"7493063533794552388.mp4"}
+{"uid":"7388230526213304995","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the right door of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the right door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard 11- close the right door of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard 11- close the right door of the cupboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9553414726177253888.mp4"}
+{"uid":"1754452664357254916","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: immediate next step? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cupboard 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: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cupboard door 2- Close the cupboard door 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cupboard 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: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Close the cupboard door\n\u003c/PRED\u003e","video":"1540204884639058755.mp4"}
+{"uid":"15453204950727034021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10793068288414487970.mp4"}
+{"uid":"8119721497516495193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly push the rack door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslightly push the rack 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":"10292870376897949777.mp4"}
+{"uid":"12682247574169692975","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: touch the notepad\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the notepad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the notepad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- touch the notepad 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: touch the notepad\n\u003c/PRED\u003e","video":"13002437261263129617.mp4"}
+{"uid":"16803501416832169168","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the note pad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the note pad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the note pad 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the note pad\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move the note pad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the note pad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7622985068426393327.mp4"}
+{"uid":"10385044605551457616","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: immediate next step? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the cupboard 2- Move close to the middle shelf 3- place the note pad in the middle shelf 4- slightly push the books 5- Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6584585977847378973.mp4"}
+{"uid":"3456009000644886219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the white packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15953561363184444053.mp4"}
+{"uid":"17157665229036656397","text":"\u003ctask:success:discrete:True\u003e\nPlace the note pad in the middle shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the note pad in the middle shelf\n\u003c/PRED\u003e","video":"14706509882592241583.mp4"}
+{"uid":"4033964675077739224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the carton 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":"9381137886205549957.mp4"}
+{"uid":"16157449472123095659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4700617566942983848.mp4"}
+{"uid":"3068131607049399663","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard Q: immediate next step? \u003cPRED\u003eA: close the cupboard right door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: close the cupboard right door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books 8- Move away from the cabinet 9- Move towards the left door of the cabinet 10- close the left door of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- close the cupboard right door 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cupboard right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cupboard 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cupboard right door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cupboard right door\n\u003c/PRED\u003e","video":"9409679659353308076.mp4"}
+{"uid":"18076914818687909522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"5173975222433409586.mp4"}
+{"uid":"12023631120325720400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"8833698279487035593.mp4"}
+{"uid":"12762060818631894642","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the left 2- close the left door of the cupboard 3- Slightly move to the right 4- Close the cupboard door 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e","video":"1274473688059999881.mp4"}
+{"uid":"3681889762876688772","text":"\u003ctask:success:discrete:True\u003e\nClose the left door of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left door of the cabinet\n\u003c/PRED\u003e","video":"9071388556704873749.mp4"}
+{"uid":"17667627306907006170","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16396347841915666517.mp4"}
+{"uid":"6486549167718069251","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the cabinet 2- Move towards the left door of the cabinet 3- close the left door of the cupboard 4- Slightly move to the right 5- Close the cupboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the cabinet\n\u003c/PRED\u003e","video":"4967356441752623957.mp4"}
+{"uid":"10912654564567337459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the coffee cups to the center of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6161225953701683487.mp4"}
+{"uid":"10002120832303300476","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the middle row of the cabinet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the middle row of the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12351641099900558104.mp4"}
+{"uid":"15156123933797200736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the binder clip 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":"10558756514589108958.mp4"}
+{"uid":"11360544428143104836","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors Q: immediate next step? \u003cPRED\u003eA: move away from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the drawer 2- close the left door of the cupboard 3- Slightly move to the right 4- Close the cupboard door 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from 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: move away from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there is a yellow notepad on the table, please return it to the supply cabinet, then close the cabinet doors. last 20 steps: 1- Drag the notepad to the bottom of the table 2- grasp the notepad 3- Pick up the note pad 4- Move towards the cupboard 5- Move close to the middle shelf 6- place the note pad in the middle shelf 7- slightly push the books Q: immediate next step? \u003cPRED\u003eA: move away from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from 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":"6910719101208175567.mp4"}
+{"uid":"9915075054119615484","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the box 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e","video":"6610418343636824899.mp4"}
+{"uid":"13497389435229953064","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Drop pack into box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pack into box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pack into box 2- Drop glass into box 3- Drop tissue box into box 4- Drop cable into box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pack into box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pack 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:affordance:discriminative:discrete:True\u003e\nDrop pack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box Q: immediate next step? \u003cPRED\u003eA: Drop pack into box\n\u003c/PRED\u003e","video":"14596152791649669933.mp4"}
+{"uid":"6827477093065189319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10931257810092822486.mp4"}
+{"uid":"15732787033256265697","text":"\u003ctask:success:discrete:True\u003e\nPlace the tissue packet into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue packet into the carton\n\u003c/PRED\u003e","video":"4421301936419782322.mp4"}
+{"uid":"10209413958293291100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1623031720165514749.mp4"}
+{"uid":"1592107259070839902","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the holder into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the holder into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Place the holder into the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the holder into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Place the holder into the carton 2- Drop tissue box into box 3- Drop cable into box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton Q: immediate next step? \u003cPRED\u003eA: Place the holder into the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the holder into the carton\n\u003c/PRED\u003e","video":"16607572401874966267.mp4"}
+{"uid":"9825993002578490821","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue cable 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 desk, then place items from the floor into the box. last 20 steps: 1- Open the carton Q: immediate next step? \u003cPRED\u003eA: Put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue cable 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 desk, then place items from the floor into the box. last 20 steps: 1- Open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue cable in the box 2- Place the tissue packet into the carton 3- Drop glass into box 4- Drop tissue box into box 5- Drop cable into box\n\u003c/PRED\u003e","video":"16984013228293514365.mp4"}
+{"uid":"3241005426843176153","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor 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: Place the black wire into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box 6- Place the black wire into the carton 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 desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box 6- Place the black wire into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the black wire into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6950167738383478615.mp4"}
+{"uid":"13349160441623464376","text":"\u003ctask:success:discrete:True\u003e\nDrop pack 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pack into box\n\u003c/PRED\u003e","video":"8514260194573985584.mp4"}
+{"uid":"11646825407908330500","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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 desk, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open Box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Open Box\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open Box 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box\n\u003c/PRED\u003e","video":"5148182039733678491.mp4"}
+{"uid":"5312988876753000056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17048299920371646980.mp4"}
+{"uid":"17794936992074845092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12304255775849340121.mp4"}
+{"uid":"8732184919256172698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12713107729026700373.mp4"}
+{"uid":"16222251641541207686","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":"178690386820241293.mp4"}
+{"uid":"4664276376093806016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11211823222024366853.mp4"}
+{"uid":"5221511525295376694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bottom right strainer into the brown 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":"1546925757330083077.mp4"}
+{"uid":"17090311926814168933","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the box 2- Drop glass into box 3- Drop tissue box into box 4- Drop cable into box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box Q: immediate next step? \u003cPRED\u003eA: Put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the box\n\u003c/PRED\u003e","video":"15333851612919097883.mp4"}
+{"uid":"17667070830274078375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the tape holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"613746082186030660.mp4"}
+{"uid":"14042683910231853867","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cable into the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cable into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Place the cable into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cable into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cable into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton Q: immediate next step? \u003cPRED\u003eA: Place the cable into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cable into the carton 2- Place the tissue packet into the carton 3- Drop glass into box 4- Drop tissue box into box 5- Drop cable into box\n\u003c/PRED\u003e","video":"18040655875216429169.mp4"}
+{"uid":"13379114353293539651","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":"10268310538081474206.mp4"}
+{"uid":"4240495233153486741","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen holder in the box 2- Drop tissue box into box 3- Drop cable into box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton Q: immediate next step? \u003cPRED\u003eA: Put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16159111597546421483.mp4"}
+{"uid":"11495609383833375774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bigger 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":"14984503461602751105.mp4"}
+{"uid":"7981973891584109398","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Open the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15505734952973037125.mp4"}
+{"uid":"11008878604256444663","text":"\u003ctask:success:discrete:True\u003e\nPut the 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue box in the box\n\u003c/PRED\u003e","video":"17964937268647675894.mp4"}
+{"uid":"5128299810569541810","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Place the tissue packet into the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue packet into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue packet into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue packet into the carton 2- Drop glass into box 3- Drop tissue box into box 4- Drop cable into box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box Q: immediate next step? \u003cPRED\u003eA: Place the tissue packet into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue packet into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue packet into the carton\n\u003c/PRED\u003e","video":"6947940527662912189.mp4"}
+{"uid":"3094665109329854120","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box Q: immediate next step? \u003cPRED\u003eA: Drop tissue box into box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Drop tissue box into box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop tissue box into box 2- Drop cable into box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop tissue box 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:success:discrete:False\u003e\nDrop tissue box 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 tissue box into box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop tissue box into box\n\u003c/PRED\u003e","video":"3216058445946468572.mp4"}
+{"uid":"12222795309175145510","text":"\u003ctask:success:discrete:True\u003e\nDrop cable 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e","video":"14797496944100078072.mp4"}
+{"uid":"3083058581933898818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6826357213582614925.mp4"}
+{"uid":"5211353048087077056","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":"11003384929215576324.mp4"}
+{"uid":"18083963538078328917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15002298747277399019.mp4"}
+{"uid":"10579147235694161139","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":"6041636999422092319.mp4"}
+{"uid":"17262014293463234822","text":"\u003ctask:success:discrete:True\u003e\nPlace the cable into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cable into the carton\n\u003c/PRED\u003e","video":"7912814068728683654.mp4"}
+{"uid":"11415937612400075588","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop tissue box into box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop tissue box 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":"15957959304270435593.mp4"}
+{"uid":"15308079568304410718","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the box into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Place the box into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the box into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the box into the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box Q: immediate next step? \u003cPRED\u003eA: Place the box into the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the box into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the box into the carton 2- Drop cable into box 3- done\n\u003c/PRED\u003e","video":"16222759729172686267.mp4"}
+{"uid":"6090781517893297611","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton Q: immediate next step? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop cable 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop cable 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Drop cable into box 2- Place the tissue packet into the carton 3- Drop glass into box 4- Drop tissue box into box 5- Drop cable into box\n\u003c/PRED\u003e","video":"9897777486277861632.mp4"}
+{"uid":"8895957047173412508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"11729343250843975014.mp4"}
+{"uid":"8626813103291093881","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop glass 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 desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Drop glass into box 2- Drop tissue box into box 3- Drop cable into box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton Q: immediate next step? \u003cPRED\u003eA: Drop glass into box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop glass into box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Drop glass into box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop glass 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop glass into box\n\u003c/PRED\u003e","video":"7761978282191058699.mp4"}
+{"uid":"8738441129459452691","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue box in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue box in the box 2- Drop cable into box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box Q: immediate next step? \u003cPRED\u003eA: Put the 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 the tissue box in the box\n\u003c/PRED\u003e","video":"16960345935779495296.mp4"}
+{"uid":"15701271745909909222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee lid 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":"16880826360593316270.mp4"}
+{"uid":"1268405145404177960","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black wire into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black wire into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black wire into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black wire into the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Place the black wire into the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black wire into the carton 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box Q: immediate next step? \u003cPRED\u003eA: Place the black wire into the carton\n\u003c/PRED\u003e","video":"12660843252184795979.mp4"}
+{"uid":"13051642982809579675","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":"5713892908426777159.mp4"}
+{"uid":"8074148260275271593","text":"\u003ctask:success:discrete:True\u003e\nDrop cable 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box 6- Drop cable into box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor 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 cable into box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box 6- Drop cable into box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1381331298436451137.mp4"}
+{"uid":"6902028054707552201","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black cable in the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black cable 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 desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box Q: immediate next step? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e","video":"9790708011145284526.mp4"}
+{"uid":"79692550872892239","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop cable into box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop cable 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop cable 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box Q: immediate next step? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop cable into box\n\u003c/PRED\u003e","video":"8886543297140621007.mp4"}
+{"uid":"9414457894254613701","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue cable 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":"5095263731181567686.mp4"}
+{"uid":"8075935406206990286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npic up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14844535150436853836.mp4"}
+{"uid":"10444333774018410153","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open Box\n\u003c/PRED\u003e","video":"7931049262577719784.mp4"}
+{"uid":"17998826253945116494","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":"8738046082081972015.mp4"}
+{"uid":"7419501093588869367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the holder into the carton\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the holder into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16720704373523249081.mp4"}
+{"uid":"13780720019265680259","text":"\u003ctask:success:discrete:True\u003e\nPut the black cable in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black cable in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box 6- Put the black cable 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 desk, then place items from the floor into the box. last 20 steps: 1- Open the carton 2- Drop cable into box 3- Place the tissue packet into the carton 4- Drop glass into box 5- Drop tissue box into box 6- Put the black cable in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the floor into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8499492563267891348.mp4"}
+{"uid":"13274296275144974156","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":"17828673832964048313.mp4"}
+{"uid":"6548087860106790643","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the box into the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the box into the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6595833406711809244.mp4"}
+{"uid":"882971686807506672","text":"\u003ctask:success:discrete:True\u003e\nDrop glass 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop glass into box\n\u003c/PRED\u003e","video":"11032744717586422216.mp4"}
+{"uid":"12612202564448846991","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: immediate next step? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the control panel 2- Touch the control panel 3- Move away from the control panel 4- done\n\u003c/PRED\u003e","video":"1722995321730699224.mp4"}
+{"uid":"11197886570355860459","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place Green pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace Green pen inside the pen 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":"1997708251756985029.mp4"}
+{"uid":"1672512354323976684","text":"\u003ctask:success:discrete:False\u003e\nTake out the larger clip from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the larger clip from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer 18- put a green pen in the drawer 19- Close pen drawer inside the cupboard 20- close the drawer Q: immediate next step? \u003cPRED\u003eA: Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer 18- put a green pen in the drawer 19- Close pen drawer inside the cupboard 20- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the larger clip from the holder 2- Move out a small clip from the holder keep back the holder 3- Open small clip drawer inside cupboard 4- Place small clip inside the clip drawer 5- Close small clip drawer\n\u003c/PRED\u003e","video":"12004739411683597492.mp4"}
+{"uid":"3907260709410217527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace instant oatmeal pack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6459461211199919084.mp4"}
+{"uid":"2808495854832630958","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put a black pen in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a black pen in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer Q: immediate next step? \u003cPRED\u003eA: put a black pen in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a black pen in the drawer 2- put a green pen in the drawer 3- Close pen drawer inside the cupboard 4- close the drawer 5- Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a black pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a black pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a black pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"569088092651143838.mp4"}
+{"uid":"15472491972998430395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the pen 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":"5012864298880678136.mp4"}
+{"uid":"803588633129632018","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close clip drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose clip drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- close the drawer 2- open the drawer 3- put the black marker in the drawer 4- put the marker in the drawer 5- put a black marker in the drawer 6- put a black marker in the drawer 7- close the drawer 8- open a pen drawer 9- put a black pen in the drawer 10- put a yellow pen in the drawer 11- put a green pen in the drawer 12- Close pen drawer inside the cupboard 13- close the drawer 14- Take out the larger clip from the holder 15- Move out a small clip from the holder keep back the holder 16- Open small clip drawer inside cupboard 17- Place small clip inside the clip drawer 18- Close small clip drawer 19- Open big clip drawer inside the cupboard 20- Place a big clip inside the clip drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close clip drawer 2- Place the holder from the cupboard out on table 3- Close cupboard 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- close the drawer 2- open the drawer 3- put the black marker in the drawer 4- put the marker in the drawer 5- put a black marker in the drawer 6- put a black marker in the drawer 7- close the drawer 8- open a pen drawer 9- put a black pen in the drawer 10- put a yellow pen in the drawer 11- put a green pen in the drawer 12- Close pen drawer inside the cupboard 13- close the drawer 14- Take out the larger clip from the holder 15- Move out a small clip from the holder keep back the holder 16- Open small clip drawer inside cupboard 17- Place small clip inside the clip drawer 18- Close small clip drawer 19- Open big clip drawer inside the cupboard 20- Place a big clip inside the clip drawer Q: immediate next step? \u003cPRED\u003eA: Close clip drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close clip drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose clip drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Close clip drawer\n\u003c/PRED\u003e","video":"11200203294073981877.mp4"}
+{"uid":"14424216146361128505","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap 5- close the tap 6- grab the glass from the water purifier tray 7- put the glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap 5- close the tap 6- grab the glass from the water purifier tray 7- put the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10594561098983785408.mp4"}
+{"uid":"7844666696831338026","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e","video":"818695178838874397.mp4"}
+{"uid":"12482286181500534389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4434667200383992973.mp4"}
+{"uid":"8823464219855073119","text":"\u003ctask:success:discrete:True\u003e\nPlace small clip inside the clip 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 small clip inside the clip drawer\n\u003c/PRED\u003e","video":"10710135768090595487.mp4"}
+{"uid":"1365622264775434073","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the drawer 2- put the blue marker in the drawer 3- close the drawer 4- open the drawer 5- put the black marker in the drawer\n\u003c/PRED\u003e","video":"15786900836654722606.mp4"}
+{"uid":"6020958799335671786","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a green pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3015143562926395322.mp4"}
+{"uid":"11791956148057212787","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the table 2- Move away from the control panel 3- Touch the control panel 4- Move away from the control panel 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15084845055771849715.mp4"}
+{"uid":"13540173278529866633","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack a glass from the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack a glass from 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the tray of water purifier\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? Q: immediate next step? \u003cPRED\u003eA: put glass on the tray of water purifier\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand Q: immediate next step? \u003cPRED\u003eA: put glass on the tray of water purifier\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the tray of water purifier 2- open the tap of the water purifier 3- take one glass pf water from the tap 4- close the tap 5- grab the glass from the water purifier tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the tray of water purifier\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the tray of water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass on the tray of water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10206313726188864820.mp4"}
+{"uid":"2916621454238103414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: immediate next step? \u003cPRED\u003eA: open a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: open a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: next 5 steps? \u003cPRED\u003eA: 1- open a drawer 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open a drawer\n\u003c/PRED\u003e","video":"2860362706452484994.mp4"}
+{"uid":"138033942539835509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2751919854340681962.mp4"}
+{"uid":"1016811924656612762","text":"\u003ctask:success:discrete:True\u003e\nput the black marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the drawer\n\u003c/PRED\u003e","video":"13828784274278618212.mp4"}
+{"uid":"18176499721538311167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes 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":"7506716196785590747.mp4"}
+{"uid":"12104039485736884738","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":"11285665817739762113.mp4"}
+{"uid":"8084027282378442640","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":"18314575348653865761.mp4"}
+{"uid":"9486126346751290845","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put the black marker in the drawer 3- put the marker in the drawer 4- put a black marker in the drawer 5- put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7648204419408065995.mp4"}
+{"uid":"14906581910815946701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet into the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"532824595486819259.mp4"}
+{"uid":"1329922286996164892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"3353225778295727126.mp4"}
+{"uid":"3325999004183027552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow marker in yellow marker 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":"2163660165505063384.mp4"}
+{"uid":"10180973455809066763","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace white blue marker inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7865149283274289455.mp4"}
+{"uid":"3294364318083133511","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a black marker in the drawer 2- open a pen drawer 3- put a black pen in the drawer 4- put a yellow pen in the drawer 5- put a green pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a black marker 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e","video":"9081063173573725571.mp4"}
+{"uid":"1853911853739364317","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":"7797216244235827263.mp4"}
+{"uid":"1536600259883383965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2179474147926016264.mp4"}
+{"uid":"16426379240141236186","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove out a small clip from the holder keep back 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":"1566623461005899280.mp4"}
+{"uid":"14519537892145868728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy 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":"5336378016767549083.mp4"}
+{"uid":"4975607907292281046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3912636230901077357.mp4"}
+{"uid":"17082835509889673082","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a black marker in the drawer 2- put a black marker in the drawer 3- close the drawer 4- open a pen drawer 5- put a black pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a black marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer Q: immediate next step? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e","video":"9730592985397251976.mp4"}
+{"uid":"9275545578721789758","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place white blue marker inside the drawer 2- close the drawer 3- open the drawer 4- put the black marker in the drawer 5- put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white blue marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace white blue marker inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer Q: immediate next step? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e","video":"11248936427776537923.mp4"}
+{"uid":"13095153276741894292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6310341026666627528.mp4"}
+{"uid":"16645958209615515379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13271106494132687382.mp4"}
+{"uid":"8148429450694794285","text":"\u003ctask:success:discrete:True\u003e\nmove towards the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 control panel\n\u003c/PRED\u003e","video":"10642283890045628948.mp4"}
+{"uid":"17325381399639578730","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap 5- close the tap 6- grab the glass from the water purifier tray Q: immediate next step? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap 5- close the tap 6- grab the glass from the water purifier tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? Q: immediate next step? \u003cPRED\u003eA: put the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"16017194174845592216.mp4"}
+{"uid":"8353252264348116973","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":"3880356703495504013.mp4"}
+{"uid":"7056439704086263677","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":"10285485419481793938.mp4"}
+{"uid":"15483300422990678524","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back 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: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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- Close pen drawer inside the cupboard 3- close the drawer 4- Take out the larger clip from the holder 5- Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e","video":"925446093727403027.mp4"}
+{"uid":"3350831874240680894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14671148331362412620.mp4"}
+{"uid":"2438137775833636073","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a black marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4006327314740772853.mp4"}
+{"uid":"18112032481744649038","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen pen drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Open pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open pen drawer inside the cupboard 2- put a yellow pen in the drawer 3- put a green pen in the drawer 4- Close pen drawer inside the cupboard 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer Q: immediate next step? \u003cPRED\u003eA: Open pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen pen drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3774052308155116267.mp4"}
+{"uid":"10334863455761652207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14429676724092565079.mp4"}
+{"uid":"9888630740167430525","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: go to the control panel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the control panel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: immediate next step? \u003cPRED\u003eA: go to the control panel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- go to the control panel 2- Move away from the control panel 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the control panel\n\u003c/PRED\u003e","video":"732062999132558572.mp4"}
+{"uid":"11415501222841662897","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e","video":"15645399930102310244.mp4"}
+{"uid":"16134640918036495450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"15535048629702684953.mp4"}
+{"uid":"14836072246636340744","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- Touch the control panel 3- Move away from the control panel 4- done\n\u003c/PRED\u003e","video":"14586839506396523909.mp4"}
+{"uid":"12039686441638017187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11397146523656130975.mp4"}
+{"uid":"16594038331168543388","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place black and white marker inside the drawer 2- put the marker in the drawer 3- put a black marker in the drawer 4- put a black marker in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace black and white marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace black and white marker inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18224031549854377788.mp4"}
+{"uid":"5019792189479471610","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place pen holder left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer Q: immediate next step? \u003cPRED\u003eA: Place pen holder left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace pen holder left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place pen holder left 2- put a black pen in the drawer 3- put a yellow pen in the drawer 4- put a green pen in the drawer 5- Close pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place pen holder left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place pen holder left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace pen holder left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4278622327858971906.mp4"}
+{"uid":"16084055001703553434","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer 18- put a green pen in the drawer 19- Close pen drawer inside the cupboard Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer 18- put a green pen in the drawer 19- Close pen drawer inside the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- Take out the larger clip from the holder 3- Move out a small clip from the holder keep back the holder 4- Open small clip drawer inside cupboard 5- Place small clip inside the clip drawer\n\u003c/PRED\u003e","video":"17763652656342275601.mp4"}
+{"uid":"895095624269334043","text":"\u003ctask:success:discrete:False\u003e\nMove towards the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the control panel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: Move towards the control panel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the control panel 2- Move away from the control panel 3- Touch the control panel 4- Move away from the control panel 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the control panel\n\u003c/PRED\u003e","video":"718260076278428.mp4"}
+{"uid":"1622493379346396976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6894677709933745702.mp4"}
+{"uid":"17128506423466304991","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":"11344630199066916380.mp4"}
+{"uid":"14960962997965478428","text":"\u003ctask:success:discrete:True\u003e\nPlace a big clip inside the clip drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a big clip inside the clip drawer\n\u003c/PRED\u003e","video":"8032653080649733203.mp4"}
+{"uid":"12310273620574680208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13536732741719539675.mp4"}
+{"uid":"1055772730681747729","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: oprn the blue pen drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\noprn the blue pen 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":"18022762604068847972.mp4"}
+{"uid":"3882114787700246704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace black and white marker inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2773137381329834757.mp4"}
+{"uid":"16949606943254828460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"2302206954416649367.mp4"}
+{"uid":"1371611617844439612","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":"2934162142226632970.mp4"}
+{"uid":"9643837268849479847","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room 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 control panel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel 3- move away from the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel 3- move away from the control panel Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13122744572874119109.mp4"}
+{"uid":"7783128197134336971","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the drawer\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 drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the drawer 2- close the drawer 3- open the drawer 4- put the black marker in the drawer 5- put the marker in the drawer\n\u003c/PRED\u003e","video":"12703827202121548224.mp4"}
+{"uid":"13334926663345253814","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":"3289252689611838520.mp4"}
+{"uid":"9450398387382408609","text":"\u003ctask:success:discrete:True\u003e\nput a black marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e","video":"2405026294984900846.mp4"}
+{"uid":"14860558159690473374","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose pen drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer 18- put a green pen in the drawer Q: immediate next step? \u003cPRED\u003eA: Close pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose pen drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Close pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer 18- put a green pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close pen drawer inside the cupboard 2- close the drawer 3- Take out the larger clip from the holder 4- Move out a small clip from the holder keep back the holder 5- Open small clip drawer inside cupboard\n\u003c/PRED\u003e","video":"6522354950973922621.mp4"}
+{"uid":"3085865520754103078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knifes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6532662713177484405.mp4"}
+{"uid":"18093372529977517961","text":"\u003ctask:success:discrete:False\u003e\nClose white blue marker drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close white blue marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close white blue marker drawer inside the cupboard 2- open the drawer 3- put the black marker in the drawer 4- put the marker in the drawer 5- put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Close white blue marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close white blue marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose white blue marker drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Close white blue marker drawer inside the cupboard\n\u003c/PRED\u003e","video":"3942882949485489596.mp4"}
+{"uid":"553710154991183947","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pic up the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pic up the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npic up 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pic up the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: pic up the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npic up the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"554516612009081705.mp4"}
+{"uid":"6491837053434372057","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Close black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close black marker drawer inside the cupboard 2- put a black pen in the drawer 3- put a yellow pen in the drawer 4- put a green pen in the drawer 5- Close pen drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose black marker drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Close black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose black marker drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4679380590620578716.mp4"}
+{"uid":"16361700790183210736","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the marker in the drawer 3- put a black marker in the drawer 4- put a black marker in the drawer 5- close the drawer\n\u003c/PRED\u003e","video":"10713654776474970465.mp4"}
+{"uid":"14591578469002617066","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: immediate next step? \u003cPRED\u003eA: Place a black pen stand inside the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a black pen stand inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a black pen stand inside the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a black pen stand inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a black pen stand inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place a black pen stand inside the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: next 5 steps? \u003cPRED\u003eA: 1- Place a black pen stand inside the cupboard 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e","video":"10545001058336338293.mp4"}
+{"uid":"8229704948448157455","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":"16080597057967463679.mp4"}
+{"uid":"5070972490779885851","text":"\u003ctask:success:discrete:True\u003e\nopen the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e","video":"1882896848056467667.mp4"}
+{"uid":"6385450296749957050","text":"\u003ctask:success:discrete:False\u003e\nOpen cupboard 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 cupboard door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: Open cupboard door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open cupboard door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open cupboard door 2- put the stand in the almirah 3- oprn the blue pen drawer 4- put the blue marker in the drawer 5- put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen cupboard 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Open cupboard door\n\u003c/PRED\u003e","video":"14107056359831663981.mp4"}
+{"uid":"2496824588517360933","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen a pen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: open a pen drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: open a pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open a pen drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open a pen drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open a pen drawer 2- put a yellow pen in the drawer 3- put a green pen in the drawer 4- Close pen drawer inside the cupboard 5- close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen a pen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"389313991722312698.mp4"}
+{"uid":"14428062862259257164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic forks 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":"12870559816679738898.mp4"}
+{"uid":"17660328250428927916","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen holder in the wardrobe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen holder in the wardrobe 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the pen holder in the wardrobe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen holder in the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: immediate next step? \u003cPRED\u003eA: put the pen holder in the wardrobe\n\u003c/PRED\u003e","video":"5583694659577240138.mp4"}
+{"uid":"6624757256875922252","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace black and white marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place black and white marker inside the drawer 2- put a black marker in the drawer 3- put a black marker in the drawer 4- close the drawer 5- open a pen drawer\n\u003c/PRED\u003e","video":"4245778171495304468.mp4"}
+{"uid":"10375049035191563457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to 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":"3483541306238167003.mp4"}
+{"uid":"16639420472856675530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12184553759704604097.mp4"}
+{"uid":"15353055044384066344","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the black marker in the drawer 2- put the marker in the drawer 3- put a black marker in the drawer 4- put a black marker in the drawer 5- close the drawer 6- open a pen drawer 7- put a black pen in the drawer 8- put a yellow pen in the drawer 9- put a green pen in the drawer 10- Close pen drawer inside the cupboard 11- close the drawer 12- Take out the larger clip from the holder 13- Move out a small clip from the holder keep back the holder 14- Open small clip drawer inside cupboard 15- Place small clip inside the clip drawer 16- Close small clip drawer 17- Open big clip drawer inside the cupboard 18- Place a big clip inside the clip drawer 19- Close clip drawer 20- Place the holder from the cupboard out on table Q: next 5 steps? \u003cPRED\u003eA: 1- Close cupboard 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Close cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the black marker in the drawer 2- put the marker in the drawer 3- put a black marker in the drawer 4- put a black marker in the drawer 5- close the drawer 6- open a pen drawer 7- put a black pen in the drawer 8- put a yellow pen in the drawer 9- put a green pen in the drawer 10- Close pen drawer inside the cupboard 11- close the drawer 12- Take out the larger clip from the holder 13- Move out a small clip from the holder keep back the holder 14- Open small clip drawer inside cupboard 15- Place small clip inside the clip drawer 16- Close small clip drawer 17- Open big clip drawer inside the cupboard 18- Place a big clip inside the clip drawer 19- Close clip drawer 20- Place the holder from the cupboard out on table Q: immediate next step? \u003cPRED\u003eA: Close cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close cupboard\n\u003c/PRED\u003e","video":"18085569161999673957.mp4"}
+{"uid":"171391459609044146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9162936251204282918.mp4"}
+{"uid":"1931571767689365661","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: immediate next step? \u003cPRED\u003eA: go away from the control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the control panel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: go away from the control panel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the control panel 2- Touch the control panel 3- Move away from the control panel 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go away from the control panel\n\u003c/PRED\u003e","video":"1983833288080782445.mp4"}
+{"uid":"6949534508116225028","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10180525643001396702.mp4"}
+{"uid":"3366006363687611239","text":"\u003ctask:success:discrete:False\u003e\nPlace orange pen inside the pen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange pen inside the pen drawer 2- put a green pen in the drawer 3- Close pen drawer inside the cupboard 4- close the drawer 5- Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer Q: immediate next step? \u003cPRED\u003eA: Place orange pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange pen inside the pen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place orange pen inside the pen drawer\n\u003c/PRED\u003e","video":"10149564699258694961.mp4"}
+{"uid":"6632523265789944765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace black and white marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place black and white marker inside the drawer 2- put a black marker in the drawer 3- close the drawer 4- open a pen drawer 5- put a black pen in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e","video":"9257532493504886882.mp4"}
+{"uid":"17763687828379975014","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace black and white marker inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6494398003785285807.mp4"}
+{"uid":"13407787344188119981","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"950383149162729487.mp4"}
+{"uid":"13026877728640118055","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- open the almirah 2- oprn the blue pen drawer 3- put the blue marker in the drawer 4- put the blue marker in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder Q: immediate next step? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7782015844269584238.mp4"}
+{"uid":"13861131481069415033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15182856659702464026.mp4"}
+{"uid":"7432239494941092780","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a black marker 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a black marker in the drawer 2- put a black marker in the drawer 3- put a black marker in the drawer 4- close the drawer 5- open a pen drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a black marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e","video":"6391938982644966597.mp4"}
+{"uid":"1965663379012754991","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":"341374622395046384.mp4"}
+{"uid":"10628482514184791008","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":"928726623359911718.mp4"}
+{"uid":"8652692244413474603","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":"14734820275221257692.mp4"}
+{"uid":"15288567852355904234","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- put the black marker in the drawer 4- put the marker in the drawer 5- put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table 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":"18035066799533651806.mp4"}
+{"uid":"3752635582374744797","text":"\u003ctask:success:discrete:False\u003e\nPlace small clip inside the clip drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 small clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place small clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the stand in the almirah 2- oprn the blue pen drawer 3- put the blue marker in the drawer 4- put the blue marker in the drawer 5- close the drawer 6- open the drawer 7- put the black marker in the drawer 8- put the marker in the drawer 9- put a black marker in the drawer 10- put a black marker in the drawer 11- close the drawer 12- open a pen drawer 13- put a black pen in the drawer 14- put a yellow pen in the drawer 15- put a green pen in the drawer 16- Close pen drawer inside the cupboard 17- close the drawer 18- Take out the larger clip from the holder 19- Move out a small clip from the holder keep back the holder 20- Open small clip drawer inside cupboard Q: immediate next step? \u003cPRED\u003eA: Place small clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace small clip inside the clip drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place small clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the stand in the almirah 2- oprn the blue pen drawer 3- put the blue marker in the drawer 4- put the blue marker in the drawer 5- close the drawer 6- open the drawer 7- put the black marker in the drawer 8- put the marker in the drawer 9- put a black marker in the drawer 10- put a black marker in the drawer 11- close the drawer 12- open a pen drawer 13- put a black pen in the drawer 14- put a yellow pen in the drawer 15- put a green pen in the drawer 16- Close pen drawer inside the cupboard 17- close the drawer 18- Take out the larger clip from the holder 19- Move out a small clip from the holder keep back the holder 20- Open small clip drawer inside cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Place small clip inside the clip drawer 2- Close small clip drawer 3- Open big clip drawer inside the cupboard 4- Place a big clip inside the clip drawer 5- Close clip drawer\n\u003c/PRED\u003e","video":"10866580083263756755.mp4"}
+{"uid":"6355152163288197294","text":"\u003ctask:success:discrete:True\u003e\nput a black pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a black pen in the drawer\n\u003c/PRED\u003e","video":"7690997443687054057.mp4"}
+{"uid":"11122808446302744846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9136651268548481057.mp4"}
+{"uid":"17832801056823392020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the drawer 2- put a black marker in the drawer 3- put a black marker in the drawer 4- close the drawer 5- open a pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e","video":"2027280137309227635.mp4"}
+{"uid":"1319930713094243078","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the black marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the drawer 2- put a black marker in the drawer 3- put a black marker in the drawer 4- close the drawer 5- open a pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: put the black marker in the drawer\n\u003c/PRED\u003e","video":"12018757001427890075.mp4"}
+{"uid":"5957586720074259981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue chocolate into the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16383290419398089946.mp4"}
+{"uid":"7317824620185210977","text":"\u003ctask:success:discrete:True\u003e\nPlace orange pen inside the pen 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 orange pen inside the pen drawer\n\u003c/PRED\u003e","video":"6481838847855014105.mp4"}
+{"uid":"5584232743414678978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11420666457688450950.mp4"}
+{"uid":"5799430235959098061","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11248847880117514770.mp4"}
+{"uid":"4786277912005111935","text":"\u003ctask:success:discrete:True\u003e\nopen a pen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open a pen drawer\n\u003c/PRED\u003e","video":"16407573384847138895.mp4"}
+{"uid":"11845338463239646089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the coffee cup lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7638785946252548520.mp4"}
+{"uid":"6565624917247684138","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open small clip drawer inside cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen small clip drawer inside cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8994823843771795481.mp4"}
+{"uid":"11274522526061811727","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the tap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap Q: next 5 steps? \u003cPRED\u003eA: 1- close the tap 2- grab the glass from the water purifier tray 3- put the glass on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap Q: immediate next step? \u003cPRED\u003eA: close the tap\n\u003c/PRED\u003e\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take one glass pf water from the tap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake one glass pf water from the tap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tap\n\u003c/PRED\u003e","video":"7248948302544528971.mp4"}
+{"uid":"6489076536630739940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the yellow object in 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":"8202013210016030063.mp4"}
+{"uid":"1515271506475008619","text":"\u003ctask:success:discrete:False\u003e\ngrab the glass from the water purifier 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: grab the glass from the water purifier tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? Q: immediate next step? \u003cPRED\u003eA: grab the glass from the water purifier tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap 5- close the tap Q: immediate next step? \u003cPRED\u003eA: grab the glass from the water purifier tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the glass from the water purifier tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the glass from the water purifier tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier 4- take one glass pf water from the tap 5- close the tap Q: next 5 steps? \u003cPRED\u003eA: 1- grab the glass from the water purifier tray 2- put the glass on the table 3- done\n\u003c/PRED\u003e","video":"5760789337706507711.mp4"}
+{"uid":"6208280708332529618","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the marker in the drawer 2- put a black marker in the drawer 3- put a black marker in the drawer 4- close the drawer 5- open a pen drawer 6- put a black pen in the drawer 7- put a yellow pen in the drawer 8- put a green pen in the drawer 9- Close pen drawer inside the cupboard 10- close the drawer 11- Take out the larger clip from the holder 12- Move out a small clip from the holder keep back the holder 13- Open small clip drawer inside cupboard 14- Place small clip inside the clip drawer 15- Close small clip drawer 16- Open big clip drawer inside the cupboard 17- Place a big clip inside the clip drawer 18- Close clip drawer 19- Place the holder from the cupboard out on table 20- Close cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the marker in the drawer 2- put a black marker in the drawer 3- put a black marker in the drawer 4- close the drawer 5- open a pen drawer 6- put a black pen in the drawer 7- put a yellow pen in the drawer 8- put a green pen in the drawer 9- Close pen drawer inside the cupboard 10- close the drawer 11- Take out the larger clip from the holder 12- Move out a small clip from the holder keep back the holder 13- Open small clip drawer inside cupboard 14- Place small clip inside the clip drawer 15- Close small clip drawer 16- Open big clip drawer inside the cupboard 17- Place a big clip inside the clip drawer 18- Close clip drawer 19- Place the holder from the cupboard out on table 20- Close cupboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16599131831374371729.mp4"}
+{"uid":"655599822139865148","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\noprn the blue pen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: immediate next step? \u003cPRED\u003eA: oprn the blue pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: oprn the blue pen drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: oprn the blue pen drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: oprn the blue pen drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\noprn the blue pen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe Q: next 5 steps? \u003cPRED\u003eA: 1- oprn the blue pen drawer 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e","video":"12176007509026808218.mp4"}
+{"uid":"9138884080751979658","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":"3530890943595514507.mp4"}
+{"uid":"8994484705825697427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet into the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15549102729877434932.mp4"}
+{"uid":"11328306050978590657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the red packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11590538921113055495.mp4"}
+{"uid":"1251491261534052071","text":"\u003ctask:success:discrete:True\u003e\nput a black marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a black marker in the drawer\n\u003c/PRED\u003e","video":"15584808020419882046.mp4"}
+{"uid":"10224310143403769083","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel 3- Touch the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the control panel 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel 3- Touch the control panel Q: immediate next step? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 control panel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e","video":"4740047668200118671.mp4"}
+{"uid":"247095808268933221","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Open Black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open Black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: Open Black marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open Black marker drawer inside the cupboard 2- put the black marker in the drawer 3- put the marker in the drawer 4- put a black marker in the drawer 5- put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen Black marker drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen Black marker drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open Black marker drawer inside the cupboard\n\u003c/PRED\u003e","video":"18426879194861449579.mp4"}
+{"uid":"9162140641048879995","text":"\u003ctask:success:discrete:True\u003e\nOpen pen drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open pen drawer inside the cupboard\n\u003c/PRED\u003e","video":"6410335940910362941.mp4"}
+{"uid":"122599057602091702","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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put a black pen in the drawer 3- put a yellow pen in the drawer 4- put a green pen in the drawer 5- Close pen drawer inside the cupboard\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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"13537633716444710667.mp4"}
+{"uid":"16425159967768245749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16984524936077699253.mp4"}
+{"uid":"15703783969681995166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2416497362922926762.mp4"}
+{"uid":"3537308117117942667","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":"2835583900770956837.mp4"}
+{"uid":"3679677545138421784","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose small clip drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 small clip drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- oprn the blue pen drawer 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer 6- put the black marker in the drawer 7- put the marker in the drawer 8- put a black marker in the drawer 9- put a black marker in the drawer 10- close the drawer 11- open a pen drawer 12- put a black pen in the drawer 13- put a yellow pen in the drawer 14- put a green pen in the drawer 15- Close pen drawer inside the cupboard 16- close the drawer 17- Take out the larger clip from the holder 18- Move out a small clip from the holder keep back the holder 19- Open small clip drawer inside cupboard 20- Place small clip inside the clip drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close small clip drawer 2- Open big clip drawer inside the cupboard 3- Place a big clip inside the clip drawer 4- Close clip drawer 5- Place the holder from the cupboard out on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- oprn the blue pen drawer 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer 6- put the black marker in the drawer 7- put the marker in the drawer 8- put a black marker in the drawer 9- put a black marker in the drawer 10- close the drawer 11- open a pen drawer 12- put a black pen in the drawer 13- put a yellow pen in the drawer 14- put a green pen in the drawer 15- Close pen drawer inside the cupboard 16- close the drawer 17- Take out the larger clip from the holder 18- Move out a small clip from the holder keep back the holder 19- Open small clip drawer inside cupboard 20- Place small clip inside the clip drawer Q: immediate next step? \u003cPRED\u003eA: Close small clip drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close small clip drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose small clip drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Close small clip drawer\n\u003c/PRED\u003e","video":"3731448465805376549.mp4"}
+{"uid":"4441496510040524736","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"8608183462176737592.mp4"}
+{"uid":"18027672851126677356","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a green pen in the drawer 2- Close pen drawer inside the cupboard 3- close the drawer 4- Take out the larger clip from the holder 5- Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green pen 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer Q: immediate next step? \u003cPRED\u003eA: put a green pen in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put a green pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a green pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green pen in the drawer\n\u003c/PRED\u003e","video":"11647914149725394423.mp4"}
+{"uid":"9175713101640080779","text":"\u003ctask:success:discrete:False\u003e\nPlace black pen inside the pen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place black pen inside the pen drawer 2- put a yellow pen in the drawer 3- put a green pen in the drawer 4- Close pen drawer inside the cupboard 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place black pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place black pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace black pen inside the pen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 black pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer Q: immediate next step? \u003cPRED\u003eA: Place black pen inside the pen drawer\n\u003c/PRED\u003e","video":"482096909018639789.mp4"}
+{"uid":"14318795848706087847","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder Q: immediate next step? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the holder on the table 2- open the wardrobe 3- put the stand in the almirah 4- oprn the blue pen drawer 5- put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13129316395316382284.mp4"}
+{"uid":"17676596876152400248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3436269150917779779.mp4"}
+{"uid":"7027337285120967128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange snack 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":"4570690882126963417.mp4"}
+{"uid":"12982282432532754946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"563508515617112832.mp4"}
+{"uid":"16628342967836914622","text":"\u003ctask:success:discrete:False\u003e\nTouch the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the control panel 2- Move away from the control panel 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel Q: immediate next step? \u003cPRED\u003eA: Touch the control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the control panel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: Touch the control panel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5551380086355814706.mp4"}
+{"uid":"6096829556384108504","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":"7007787206123698179.mp4"}
+{"uid":"5882947460871349063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput Chocolate nut 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":"3124002365627026742.mp4"}
+{"uid":"16663491692856461407","text":"\u003ctask:success:discrete:False\u003e\nput a yellow pen 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put a yellow pen in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a yellow pen in the drawer 2- put a green pen in the drawer 3- Close pen drawer inside the cupboard 4- close the drawer 5- Take out the larger clip from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a yellow pen in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer Q: immediate next step? \u003cPRED\u003eA: put a yellow pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a yellow pen in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a yellow pen in the drawer\n\u003c/PRED\u003e","video":"15306197193428134636.mp4"}
+{"uid":"7752706414553505307","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5837719493541821531.mp4"}
+{"uid":"14756259094020442554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Open small clip drawer inside cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open small clip drawer inside cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open small clip drawer inside cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- open the wardrobe 2- put the stand in the almirah 3- oprn the blue pen drawer 4- put the blue marker in the drawer 5- put the blue marker in the drawer 6- close the drawer 7- open the drawer 8- put the black marker in the drawer 9- put the marker in the drawer 10- put a black marker in the drawer 11- put a black marker in the drawer 12- close the drawer 13- open a pen drawer 14- put a black pen in the drawer 15- put a yellow pen in the drawer 16- put a green pen in the drawer 17- Close pen drawer inside the cupboard 18- close the drawer 19- Take out the larger clip from the holder 20- Move out a small clip from the holder keep back the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Open small clip drawer inside cupboard 2- Place small clip inside the clip drawer 3- Close small clip drawer 4- Open big clip drawer inside the cupboard 5- Place a big clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen small clip drawer inside cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- open the wardrobe 2- put the stand in the almirah 3- oprn the blue pen drawer 4- put the blue marker in the drawer 5- put the blue marker in the drawer 6- close the drawer 7- open the drawer 8- put the black marker in the drawer 9- put the marker in the drawer 10- put a black marker in the drawer 11- put a black marker in the drawer 12- close the drawer 13- open a pen drawer 14- put a black pen in the drawer 15- put a yellow pen in the drawer 16- put a green pen in the drawer 17- Close pen drawer inside the cupboard 18- close the drawer 19- Take out the larger clip from the holder 20- Move out a small clip from the holder keep back the holder Q: immediate next step? \u003cPRED\u003eA: Open small clip drawer inside cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen small clip drawer inside cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3287424789980324203.mp4"}
+{"uid":"11171628176211090636","text":"\u003ctask:success:discrete:True\u003e\nPlace a black pen stand inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a black pen stand inside the cupboard\n\u003c/PRED\u003e","video":"15731653874300692356.mp4"}
+{"uid":"11143076589593922886","text":"\u003ctask:success:discrete:False\u003e\nmove towards the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: immediate next step? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the control panel 2- Move away from the control panel 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: move towards the control panel\n\u003c/PRED\u003e","video":"876353653776930960.mp4"}
+{"uid":"7507498320047744121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the turkey stick in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14718946915456773215.mp4"}
+{"uid":"5821780162366681407","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the stand in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the stand in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9164810261420133843.mp4"}
+{"uid":"16440157376845572738","text":"\u003ctask:success:discrete:True\u003e\nPlace black pen inside the pen 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 black pen inside the pen drawer\n\u003c/PRED\u003e","video":"13640730724802548136.mp4"}
+{"uid":"12508454809704276194","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the drawer 2- open the drawer 3- put the black marker in the drawer 4- put the marker in the drawer 5- put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the drawer\n\u003c/PRED\u003e","video":"10552445447550224484.mp4"}
+{"uid":"16331748936559311794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tong 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":"126197643701628408.mp4"}
+{"uid":"15159223686615491670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17034958233000707059.mp4"}
+{"uid":"10172161799831374024","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open big clip drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen big clip drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the blue marker in the drawer 2- put the blue marker in the drawer 3- close the drawer 4- open the drawer 5- put the black marker in the drawer 6- put the marker in the drawer 7- put a black marker in the drawer 8- put a black marker in the drawer 9- close the drawer 10- open a pen drawer 11- put a black pen in the drawer 12- put a yellow pen in the drawer 13- put a green pen in the drawer 14- Close pen drawer inside the cupboard 15- close the drawer 16- Take out the larger clip from the holder 17- Move out a small clip from the holder keep back the holder 18- Open small clip drawer inside cupboard 19- Place small clip inside the clip drawer 20- Close small clip drawer Q: immediate next step? \u003cPRED\u003eA: Open big clip drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen big clip drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the blue marker in the drawer 2- put the blue marker in the drawer 3- close the drawer 4- open the drawer 5- put the black marker in the drawer 6- put the marker in the drawer 7- put a black marker in the drawer 8- put a black marker in the drawer 9- close the drawer 10- open a pen drawer 11- put a black pen in the drawer 12- put a yellow pen in the drawer 13- put a green pen in the drawer 14- Close pen drawer inside the cupboard 15- close the drawer 16- Take out the larger clip from the holder 17- Move out a small clip from the holder keep back the holder 18- Open small clip drawer inside cupboard 19- Place small clip inside the clip drawer 20- Close small clip drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open big clip drawer inside the cupboard 2- Place a big clip inside the clip drawer 3- Close clip drawer 4- Place the holder from the cupboard out on table 5- Close cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open big clip drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Open big clip drawer inside the cupboard\n\u003c/PRED\u003e","video":"12009534612346815914.mp4"}
+{"uid":"9014257052142681475","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace white blue marker inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace white blue marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place white blue marker inside the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place white blue marker inside the drawer 2- close the drawer 3- open the drawer 4- put the black marker in the drawer 5- put the marker in the drawer\n\u003c/PRED\u003e","video":"1920511310844179356.mp4"}
+{"uid":"15713605109132886417","text":"\u003ctask:success:discrete:True\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"3996666699152843474.mp4"}
+{"uid":"8431709648588795074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2267995475906088131.mp4"}
+{"uid":"38567509292619813","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":"14077229573538471198.mp4"}
+{"uid":"15981085274792107834","text":"\u003ctask:success:discrete:True\u003e\nPlace black and white marker inside 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 black and white marker inside the drawer\n\u003c/PRED\u003e","video":"14206795430217630012.mp4"}
+{"uid":"16917385008867092961","text":"\u003ctask:success:discrete:True\u003e\nput the marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the drawer\n\u003c/PRED\u003e","video":"6594302384639770528.mp4"}
+{"uid":"11385742956105127338","text":"\u003ctask:success:discrete:True\u003e\nPlace the holder from the cupboard out 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 holder from the cupboard out on table\n\u003c/PRED\u003e","video":"8017832467392815545.mp4"}
+{"uid":"4829300579462628193","text":"\u003ctask:success:discrete:True\u003e\nOpen cupboard 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 cupboard door\n\u003c/PRED\u003e","video":"5130635835527131312.mp4"}
+{"uid":"12408281938720667201","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the wardrobe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 wardrobe\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the wardrobe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the wardrobe 2- oprn the blue pen drawer 3- put the blue marker in the drawer 4- put the blue marker in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10909944166179737692.mp4"}
+{"uid":"3003680158212503716","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a big clip inside the clip drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place a big clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the blue marker in the drawer 2- close the drawer 3- open the drawer 4- put the black marker in the drawer 5- put the marker in the drawer 6- put a black marker in the drawer 7- put a black marker in the drawer 8- close the drawer 9- open a pen drawer 10- put a black pen in the drawer 11- put a yellow pen in the drawer 12- put a green pen in the drawer 13- Close pen drawer inside the cupboard 14- close the drawer 15- Take out the larger clip from the holder 16- Move out a small clip from the holder keep back the holder 17- Open small clip drawer inside cupboard 18- Place small clip inside the clip drawer 19- Close small clip drawer 20- Open big clip drawer inside the cupboard Q: immediate next step? \u003cPRED\u003eA: Place a big clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the blue marker in the drawer 2- close the drawer 3- open the drawer 4- put the black marker in the drawer 5- put the marker in the drawer 6- put a black marker in the drawer 7- put a black marker in the drawer 8- close the drawer 9- open a pen drawer 10- put a black pen in the drawer 11- put a yellow pen in the drawer 12- put a green pen in the drawer 13- Close pen drawer inside the cupboard 14- close the drawer 15- Take out the larger clip from the holder 16- Move out a small clip from the holder keep back the holder 17- Open small clip drawer inside cupboard 18- Place small clip inside the clip drawer 19- Close small clip drawer 20- Open big clip drawer inside the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Place a big clip inside the clip drawer 2- Close clip drawer 3- Place the holder from the cupboard out on table 4- Close cupboard 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a big clip inside the clip drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a big clip inside the clip drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a big clip inside the clip drawer\n\u003c/PRED\u003e","video":"4427371718219743286.mp4"}
+{"uid":"14608821780248820997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place black and white marker inside the drawer 2- close the drawer 3- open a pen drawer 4- put a black pen in the drawer 5- put a yellow pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace black and white marker inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Place black and white marker inside the drawer\n\u003c/PRED\u003e","video":"10956013456311686696.mp4"}
+{"uid":"13004463459978505795","text":"\u003ctask:success:discrete:False\u003e\nPlace Green pen inside the pen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace Green pen inside the pen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place Green pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place Green pen inside the pen drawer 2- Close pen drawer inside the cupboard 3- close the drawer 4- Take out the larger clip from the holder 5- Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer 9- open the drawer 10- put the black marker in the drawer 11- put the marker in the drawer 12- put a black marker in the drawer 13- put a black marker in the drawer 14- close the drawer 15- open a pen drawer 16- put a black pen in the drawer 17- put a yellow pen in the drawer Q: immediate next step? \u003cPRED\u003eA: Place Green pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place Green pen inside the pen drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place Green pen inside the pen drawer\n\u003c/PRED\u003e","video":"16421548709814365266.mp4"}
+{"uid":"4588400289295931841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nCut the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3658569166067985244.mp4"}
+{"uid":"5112300635736091296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClean 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":"7929265615597894472.mp4"}
+{"uid":"17367149395542452009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup into the dust 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":"15970340714644921324.mp4"}
+{"uid":"1785155100461103557","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the holder on the table 2- open the wardrobe 3- put the stand in the almirah 4- oprn the blue pen drawer 5- put the blue marker in the drawer 6- put the blue marker in the drawer 7- close the drawer 8- open the drawer 9- put the black marker in the drawer 10- put the marker in the drawer 11- put a black marker in the drawer 12- put a black marker in the drawer 13- close the drawer 14- open a pen drawer 15- put a black pen in the drawer 16- put a yellow pen in the drawer 17- put a green pen in the drawer 18- Close pen drawer inside the cupboard 19- close the drawer 20- Take out the larger clip from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move out a small clip from the holder keep back the holder 2- Open small clip drawer inside cupboard 3- Place small clip inside the clip drawer 4- Close small clip drawer 5- Open big clip drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove out a small clip from the holder keep back 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: Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- put the holder on the table 2- open the wardrobe 3- put the stand in the almirah 4- oprn the blue pen drawer 5- put the blue marker in the drawer 6- put the blue marker in the drawer 7- close the drawer 8- open the drawer 9- put the black marker in the drawer 10- put the marker in the drawer 11- put a black marker in the drawer 12- put a black marker in the drawer 13- close the drawer 14- open a pen drawer 15- put a black pen in the drawer 16- put a yellow pen in the drawer 17- put a green pen in the drawer 18- Close pen drawer inside the cupboard 19- close the drawer 20- Take out the larger clip from the holder Q: immediate next step? \u003cPRED\u003eA: Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove out a small clip from the holder keep back 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Move out a small clip from the holder keep back the holder\n\u003c/PRED\u003e","video":"3654721464186779144.mp4"}
+{"uid":"6815457291079540394","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16679356584153568149.mp4"}
+{"uid":"13631028069661959569","text":"\u003ctask:success:discrete:True\u003e\nput a yellow pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a yellow pen in the drawer\n\u003c/PRED\u003e","video":"12979432490466023381.mp4"}
+{"uid":"4490067861186644839","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier Q: immediate next step? \u003cPRED\u003eA: take one glass pf water from the tap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier 3- open the tap of the water purifier Q: next 5 steps? \u003cPRED\u003eA: 1- take one glass pf water from the tap 2- close the tap 3- grab the glass from the water purifier tray 4- put the glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take one glass pf water from the tap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake one glass pf water from 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take one glass pf water from the tap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? Q: immediate next step? \u003cPRED\u003eA: take one glass pf water from the tap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake one glass pf water from 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","video":"15185913650162968310.mp4"}
+{"uid":"8574855191574222197","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier Q: immediate next step? \u003cPRED\u003eA: open the tap of the water purifier\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the tap of the water purifier\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water?. last 20 steps: 1- unstack a glass from the stand 2- put glass on the tray of water purifier Q: next 5 steps? \u003cPRED\u003eA: 1- open the tap of the water purifier 2- take one glass pf water from the tap 3- close the tap 4- grab the glass from the water purifier tray 5- put the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the tap of the water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please fill up a cup of water? Q: immediate next step? \u003cPRED\u003eA: open the tap of the water purifier\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the tap of the water purifier\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput glass on the tray of water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the tap of the water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass on the tray of water purifier\n\u003c/PRED\u003e","video":"12218962395823806542.mp4"}
+{"uid":"5125671146653503215","text":"\u003ctask:success:discrete:True\u003e\ngo to the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the control panel\n\u003c/PRED\u003e","video":"18329585682439181809.mp4"}
+{"uid":"992830436075857765","text":"\u003ctask:success:discrete:True\u003e\nput the pen holder in the wardrobe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen holder in the wardrobe\n\u003c/PRED\u003e","video":"13345740823640554804.mp4"}
+{"uid":"4171374682115969862","text":"\u003ctask:success:discrete:True\u003e\nTouch the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 control panel\n\u003c/PRED\u003e","video":"14346871134828722906.mp4"}
+{"uid":"15735288919630174045","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the control panel 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: 1- Move towards the control panel 2- Move away from the control panel Q: immediate next step? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the control panel\n\u003c/PRED\u003e","video":"14103477039115012609.mp4"}
+{"uid":"3928675627855800600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6042552793298078876.mp4"}
+{"uid":"17751124987360912488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14529911663391605169.mp4"}
+{"uid":"11492790589174036377","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- open the drawer 2- put the black marker in the drawer 3- put the marker in the drawer 4- put a black marker in the drawer 5- put a black marker in the drawer 6- close the drawer 7- open a pen drawer 8- put a black pen in the drawer 9- put a yellow pen in the drawer 10- put a green pen in the drawer 11- Close pen drawer inside the cupboard 12- close the drawer 13- Take out the larger clip from the holder 14- Move out a small clip from the holder keep back the holder 15- Open small clip drawer inside cupboard 16- Place small clip inside the clip drawer 17- Close small clip drawer 18- Open big clip drawer inside the cupboard 19- Place a big clip inside the clip drawer 20- Close clip drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the holder from the cupboard out on table 2- Close cupboard 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the holder from the cupboard out 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 holder from the cupboard out on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Place the holder from the cupboard out on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the holder from the cupboard out on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the holder from the cupboard out 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: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- open the drawer 2- put the black marker in the drawer 3- put the marker in the drawer 4- put a black marker in the drawer 5- put a black marker in the drawer 6- close the drawer 7- open a pen drawer 8- put a black pen in the drawer 9- put a yellow pen in the drawer 10- put a green pen in the drawer 11- Close pen drawer inside the cupboard 12- close the drawer 13- Take out the larger clip from the holder 14- Move out a small clip from the holder keep back the holder 15- Open small clip drawer inside cupboard 16- Place small clip inside the clip drawer 17- Close small clip drawer 18- Open big clip drawer inside the cupboard 19- Place a big clip inside the clip drawer 20- Close clip drawer Q: immediate next step? \u003cPRED\u003eA: Place the holder from the cupboard out on table\n\u003c/PRED\u003e","video":"11315708952315413072.mp4"}
+{"uid":"1881002658135351101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13604581915533607347.mp4"}
+{"uid":"5851000596702816534","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah 5- oprn the blue pen drawer 6- put the blue marker in the drawer 7- put the blue marker in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the black marker in the drawer 3- put the marker in the drawer 4- put a black marker in the drawer 5- put a black marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5586329448468005226.mp4"}
+{"uid":"17506685654453012441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo near the person Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5545181739409856038.mp4"}
+{"uid":"10185016676594250674","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the control panel 2- Touch the control panel 3- Move away from the control panel 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: turn on the lights in the room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: turn on the lights in the room Q: immediate next step? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the control panel\n\u003c/PRED\u003e","video":"16303302515698919430.mp4"}
+{"uid":"11406217715803883092","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":"12532797277328887238.mp4"}
+{"uid":"16729515859093915952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13547669773369348926.mp4"}
+{"uid":"14323799877270764587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3121916068256931077.mp4"}
+{"uid":"16088793179514507957","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Open Blue marker drawer inside the cupboard 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: Open Blue marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen Blue marker drawer inside the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open Blue marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open Blue marker drawer inside the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen Blue marker drawer inside the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table 3- open the wardrobe 4- put the stand in the almirah Q: immediate next step? \u003cPRED\u003eA: Open Blue marker drawer inside the cupboard\n\u003c/PRED\u003e","video":"13420954195748382791.mp4"}
+{"uid":"15950826024461520311","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":"17494775059054875335.mp4"}
+{"uid":"11748625729905499515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14405219954110081963.mp4"}
+{"uid":"17667173458987346311","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":"10353209266899121188.mp4"}
+{"uid":"6752361094198785478","text":"\u003ctask:success:discrete:True\u003e\nmove to the control panel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 control panel\n\u003c/PRED\u003e","video":"17781185611673844003.mp4"}
+{"uid":"447582475020675213","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the stand in the almirah 2- put the blue marker in the drawer 3- put the blue marker in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stand in the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table Q: immediate next step? \u003cPRED\u003eA: put the stand in the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the stand in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return all of the items inside the mesh container back to their places in the supply cabinet, then put the empty container back on the table. last 20 steps: 1- pic up the pen holder 2- put the holder on the table Q: immediate next step? \u003cPRED\u003eA: put the stand in the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stand in the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the stand in the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2710829153631309564.mp4"}
+{"uid":"18034165487498986450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sachet in the top right of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"495448143083406650.mp4"}
+{"uid":"15483755471040253533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16067580180227853578.mp4"}
+{"uid":"6389171300156982426","text":"\u003ctask:success:discrete:True\u003e\nHold the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hold the pen\n\u003c/PRED\u003e","video":"3944213405369720893.mp4"}
+{"uid":"2703385179892034868","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":"7612255979698439795.mp4"}
+{"uid":"7495646095145008019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen from the pen holder 2- Drop the black pen in the pen holder 3- Move closer to the holder 4- Move away from the left pens 5- Grasp the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e","video":"344720133327398386.mp4"}
+{"uid":"11934859990818068433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10423943571036316324.mp4"}
+{"uid":"4983618467014240993","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":"16648204872636016095.mp4"}
+{"uid":"10300848531701113880","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder Q: immediate next step? \u003cPRED\u003eA: Move away from the left pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the left pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the left pens 2- Grasp the pen 3- pick a blue pen from the pen holder 4- Throw it 5- Go closer to the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Move away from the left pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the left pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the left pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the left pens\n\u003c/PRED\u003e","video":"5957752658017145020.mp4"}
+{"uid":"9566884480294650741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue marker in penholder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12145001877650803411.mp4"}
+{"uid":"6738845436411011424","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the knives 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: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the knives in the holder 2- place the knife in the stand 3- Place the knives in the holder 4- place a knife in the stand 5- put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the knives 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":"8323649411519406179.mp4"}
+{"uid":"10468759300958402657","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput knife in the knife 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":"16277203428171108794.mp4"}
+{"uid":"9505819593790283810","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knives in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knives in the knife 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 knives in the knife 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put knives in the knife holder 2- place the knife in the stand 3- Place the knives in the holder 4- place a knife in the stand 5- put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: put knives in the knife holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table Q: immediate next step? \u003cPRED\u003eA: put knives in the knife holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knives in the knife holder\n\u003c/PRED\u003e","video":"550689810074465163.mp4"}
+{"uid":"13471699007319154723","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen from the pen holder 2- Go closer to the holder 3- Grasp the blue pen in the pen holder 4- Pick up the blue pen from the pen holder 5- Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11989882265829616968.mp4"}
+{"uid":"9042974067528726490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife 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":"10512519048073288762.mp4"}
+{"uid":"16259692513946225332","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":"8245943088563587731.mp4"}
+{"uid":"2048774072667614021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize 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":"17957493752884362571.mp4"}
+{"uid":"11905460710057772052","text":"\u003ctask:success:discrete:True\u003e\nMove to the black 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: Move to the black holder\n\u003c/PRED\u003e","video":"17253746800703247104.mp4"}
+{"uid":"15984177643899512849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the white packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8322204765506232162.mp4"}
+{"uid":"6226502010551732892","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it Q: next 5 steps? \u003cPRED\u003eA: 1- Go closer to the holder 2- Grasp the blue pen in the pen holder 3- Pick up the blue pen from the pen holder 4- Drop the pen in the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go closer to the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it Q: immediate next step? \u003cPRED\u003eA: Go closer to the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Go closer to the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo closer to 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: Go closer to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo closer to the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3129390385431700986.mp4"}
+{"uid":"9530367702725531656","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in the knife holder 2- put knife in the knife holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in the knife 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in the knife 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: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e","video":"14371138677793300393.mp4"}
+{"uid":"1794952182614392849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7505276736611973332.mp4"}
+{"uid":"3376741426614080535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRemove the knifes from the packet put them in the glass on 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":"548449366976532998.mp4"}
+{"uid":"4686824699435907542","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the holder 2- Drop the black pen in the pen holder 3- Move closer to the holder 4- Move away from the left pens 5- Grasp the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to 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: sort pens. Q: immediate next step? \u003cPRED\u003eA: Move close to the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to 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: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: immediate next step? \u003cPRED\u003eA: Move close to the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the holder\n\u003c/PRED\u003e","video":"3847912180266720859.mp4"}
+{"uid":"8000968566007314624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the left pens\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the left pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6653497663853522735.mp4"}
+{"uid":"12417468382176477027","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the knives 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the knives in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the knives 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: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e","video":"12126093266229943029.mp4"}
+{"uid":"329155725102450060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"725664065746753903.mp4"}
+{"uid":"9813381683453440545","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black pen in the pen holder 2- lift a pen from the pen holder 3- Drop the black pen in the pen holder 4- Move closer to the holder 5- Move away from the left pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: immediate next step? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e","video":"6584139101914933258.mp4"}
+{"uid":"8441580970975004306","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput knife in the knife holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand 6- put knife in the knife holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand 6- put knife in the knife holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10690740809857692809.mp4"}
+{"uid":"12778588019272591654","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Pick up the blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Pick up the blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the pen holder\n\u003c/PRED\u003e","video":"11690079103178591829.mp4"}
+{"uid":"12754106780337494514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3592667911153236632.mp4"}
+{"uid":"8736135222108655053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass straight on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15588607330337422198.mp4"}
+{"uid":"11984949205995021542","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- lift a blue pen from the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift a blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: lift a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift a blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: immediate next step? \u003cPRED\u003eA: lift a blue pen from the pen holder\n\u003c/PRED\u003e","video":"14821201832336387670.mp4"}
+{"uid":"8821240477270583919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"7344773488151377040.mp4"}
+{"uid":"3698712574571015061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8054494643696985004.mp4"}
+{"uid":"3675369431373827746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a water bottle on the table in right-side 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":"14543059056545378076.mp4"}
+{"uid":"6636252591999987800","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":"8307843655891179240.mp4"}
+{"uid":"16879589829079826139","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black pen from the pen holder 2- lift a pen from the pen holder 3- Drop the black pen in the pen holder 4- Move closer to the holder 5- Move away from the left pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e","video":"15894374009409380831.mp4"}
+{"uid":"15010453308918017998","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Put it\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put it\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Put it\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put it 2- Move closer to the holder 3- Move away from the left pens 4- Grasp the pen 5- pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put it\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10343646748755084874.mp4"}
+{"uid":"8946341963905561999","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put knives in the knife holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput knives in the knife 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":"17998328424184151841.mp4"}
+{"uid":"4014974205629573171","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move closer to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove closer to 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":"9523106304004727109.mp4"}
+{"uid":"1027006032961971729","text":"\u003ctask:success:discrete:False\u003e\nPlace the knives 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the knives in the holder 2- place a knife in the stand 3- put knife in the knife holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the knives in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e","video":"13076725677958022714.mp4"}
+{"uid":"9279532291592584235","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: lift a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift a pen from 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: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: lift a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift a pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- lift a pen from the pen holder 2- Drop the black pen in the pen holder 3- Move closer to the holder 4- Move away from the left pens 5- Grasp the pen\n\u003c/PRED\u003e","video":"8997317830315753978.mp4"}
+{"uid":"15857153457387444885","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the knives in the stand 2- place the knife in the stand 3- Place the knives in the holder 4- place a knife in the stand 5- put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knives in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the knives in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the knives in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: place the knives in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knives 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 knives in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2210839473554231088.mp4"}
+{"uid":"6741418736049179426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput basket in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18235304221495103963.mp4"}
+{"uid":"229277587201408267","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4219512926698247725.mp4"}
+{"uid":"2014531455714663997","text":"\u003ctask:success:discrete:True\u003e\nplace the knife 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 knife in the stand\n\u003c/PRED\u003e","video":"18253722374364115386.mp4"}
+{"uid":"15153686183117938524","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":"87728608874187134.mp4"}
+{"uid":"5565935121096787544","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a black pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a black pen from the pen holder 2- Drop the black pen in the pen holder 3- lift a pen from the pen holder 4- Drop the black pen in the pen holder 5- Move closer to the holder\n\u003c/PRED\u003e","video":"2018759073600305014.mp4"}
+{"uid":"18146210875490795632","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":"1297473618629749374.mp4"}
+{"uid":"16252578581132954409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11963475028807515428.mp4"}
+{"uid":"2435412078666694515","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder Q: immediate next step? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the pen 2- Drop the black pen in the pen holder 3- lift a pen from the pen holder 4- Drop the black pen in the pen holder 5- Move closer to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7687034052395621256.mp4"}
+{"uid":"7897810015268024997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand 6- place a knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a knife 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand 6- place a knife in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e","video":"1146707063194752085.mp4"}
+{"uid":"9438677744676509879","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the pen 2- pick a blue pen from the pen holder 3- Throw it 4- Go closer to the holder 5- Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Grasp the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens Q: immediate next step? \u003cPRED\u003eA: Grasp the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13512807403146249197.mp4"}
+{"uid":"11537718320075818545","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the blue pen in the pen holder 2- Drop the pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: immediate next step? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e","video":"11348319354636306758.mp4"}
+{"uid":"12325300245459733143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12430850704865357742.mp4"}
+{"uid":"18393727322220971242","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in the knife holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in the knife 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":"3983206738356466458.mp4"}
+{"uid":"16586345053032763306","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Release it\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release it\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release it\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Pick up the blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Release it\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Pick up the blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Release it 2- done\n\u003c/PRED\u003e","video":"2078538389518037688.mp4"}
+{"uid":"16284878124395012816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14716772527366945237.mp4"}
+{"uid":"4124029974333415123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packets at the right corner of organizer upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14234003600805072145.mp4"}
+{"uid":"5732971800818246527","text":"\u003ctask:success:discrete:True\u003e\nGo closer to 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: Go closer to the holder\n\u003c/PRED\u003e","video":"6710674352443671869.mp4"}
+{"uid":"8870479085126918608","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens Q: immediate next step? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the blue pen in the pen holder 2- pick a blue pen from the pen holder 3- Throw it 4- Go closer to the holder 5- Grasp the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11165246824075213397.mp4"}
+{"uid":"11883833849859339717","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a knife 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":"16477749626965044891.mp4"}
+{"uid":"1254434540300093058","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the pen 2- Drop the black pen in the pen holder 3- Move closer to the holder 4- Move away from the left pens 5- Grasp the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Lift the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2934581906667158350.mp4"}
+{"uid":"9052657554540988011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black holder 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":"1419447717593943122.mp4"}
+{"uid":"14133398672530380721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4751230675377153104.mp4"}
+{"uid":"9689832807363924435","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14872165843377431832.mp4"}
+{"uid":"5006936160267777015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11627754473469740508.mp4"}
+{"uid":"1937697016414766574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the clip 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":"4900083190639900684.mp4"}
+{"uid":"532146141645569735","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":"15170397867287870320.mp4"}
+{"uid":"17661097283870349756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7157516461081957777.mp4"}
+{"uid":"5074664398024101555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue 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":"2076347267801800884.mp4"}
+{"uid":"11262197817351359673","text":"\u003ctask:success:discrete:True\u003e\npick a blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e","video":"10100226625905803460.mp4"}
+{"uid":"1472792879451745833","text":"\u003ctask:success:discrete:True\u003e\nPick up the black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e","video":"8827610839508601731.mp4"}
+{"uid":"3289223316393806371","text":"\u003ctask:success:discrete:True\u003e\nDrop the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e","video":"17681642214185115819.mp4"}
+{"uid":"14494392601887594456","text":"\u003ctask:success:discrete:True\u003e\npick a black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a black pen from the pen holder\n\u003c/PRED\u003e","video":"18375079442715277232.mp4"}
+{"uid":"11481033422507893528","text":"\u003ctask:success:discrete:False\u003e\nPlace the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the knives in the holder 2- Place the knives in the holder 3- place a knife in the stand 4- put knife in the knife holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the knives 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e","video":"16276228487366397095.mp4"}
+{"uid":"11693458305581485209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13267740690049041469.mp4"}
+{"uid":"7756916305387846981","text":"\u003ctask:success:discrete:True\u003e\nGrasp the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e","video":"1513562981155302206.mp4"}
+{"uid":"11788096347289111141","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knives from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: pick up the knives from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the knives from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knives from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knives from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knives from the table\n\u003c/PRED\u003e","video":"3189073651979296979.mp4"}
+{"uid":"4013777887545161124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2042776606988613049.mp4"}
+{"uid":"12373340347339452763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown 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":"14450942495627270021.mp4"}
+{"uid":"5916042233045801577","text":"\u003ctask:success:discrete:True\u003e\nlift a pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift a pen from the pen holder\n\u003c/PRED\u003e","video":"17231451433269580332.mp4"}
+{"uid":"9291438262774262562","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in the knife 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: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in the knife 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in the knife holder 2- place a knife in the stand 3- put knife in the knife holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e","video":"15601023538979832434.mp4"}
+{"uid":"7499721942305661978","text":"\u003ctask:success:discrete:False\u003e\nDrop the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black pen in the pen holder 2- Move closer to the holder 3- Move away from the left pens 4- Grasp the pen 5- pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e","video":"5746985693055441262.mp4"}
+{"uid":"1204710721526939644","text":"\u003ctask:success:discrete:True\u003e\npick up the knives 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 knives from the table\n\u003c/PRED\u003e","video":"5417824025449574986.mp4"}
+{"uid":"17708116166865921987","text":"\u003ctask:success:discrete:True\u003e\nGrasp the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the blue pen in the pen holder\n\u003c/PRED\u003e","video":"5789533918781769848.mp4"}
+{"uid":"8983561494793897437","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":"15386065117177207461.mp4"}
+{"uid":"10007755996398659083","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move closer to the holder 2- Move away from the left pens 3- Grasp the pen 4- pick a blue pen from the pen holder 5- Throw it\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove closer to 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: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Move closer to the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move closer to the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Move closer to the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move closer to the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove closer to the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18422634542482736829.mp4"}
+{"uid":"2032563177417275233","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pen holder on the table 2- Drop the black pen in the pen holder 3- lift a pen from the pen holder 4- Drop the black pen in the pen holder 5- Move closer to the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Move towards the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pen holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the pen holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the pen holder on the table\n\u003c/PRED\u003e","video":"14784014897009106006.mp4"}
+{"uid":"5218072298645675201","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nHold the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hold the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Hold the pen 2- Pick up the blue pen from the pen holder 3- Drop the pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hold the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHold the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Hold the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: immediate next step? \u003cPRED\u003eA: Hold the pen\n\u003c/PRED\u003e","video":"2225786891105805291.mp4"}
+{"uid":"15176758710125919299","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9454050775070144660.mp4"}
+{"uid":"4527665912563725988","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the pen holder 2- Move closer to the holder 3- Move away from the left pens 4- Grasp the pen 5- pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e","video":"18298831421295898977.mp4"}
+{"uid":"8083434562135246252","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand Q: immediate next step? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a knife 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: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place a knife in the stand 2- place a knife in the stand 3- put knife in the knife holder 4- done\n\u003c/PRED\u003e","video":"13568959892857841713.mp4"}
+{"uid":"3091348361274133086","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a knife 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":"12440869454088816590.mp4"}
+{"uid":"5476350523395435607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the wheel table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15784007753257501541.mp4"}
+{"uid":"10604219924359237190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"693368379813771114.mp4"}
+{"uid":"7859977544120066472","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick it up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick it up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick it up 2- Drop the pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick it up\n\u003c/PRED\u003e","video":"8512618730749110649.mp4"}
+{"uid":"17197498333373586478","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":"12985437314130871343.mp4"}
+{"uid":"14598113120293505717","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":"12257918369125774130.mp4"}
+{"uid":"8558996377926992054","text":"\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen holder 2- Go closer to the holder 3- Grasp the blue pen in the pen holder 4- Pick up the blue pen from the pen holder 5- Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9740264715996480673.mp4"}
+{"uid":"9708687844297752341","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw it\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Throw it\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Throw it\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Throw it 2- Go closer to the holder 3- Grasp the blue pen in the pen holder 4- Pick up the blue pen from the pen holder 5- Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 it\n\u003c/PRED\u003e","video":"15170240085172797141.mp4"}
+{"uid":"16095456095432438617","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder Q: immediate next step? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a knife in the stand 2- put knife in the knife holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a knife 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 a knife in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e","video":"9492018111524549712.mp4"}
+{"uid":"3193277374918170903","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen Q: immediate next step? \u003cPRED\u003eA: Lift it\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift it\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Lift it 2- Throw it 3- Go closer to the holder 4- Grasp the blue pen in the pen holder 5- Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Lift it\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift it\n\u003c/PRED\u003e","video":"6127524606118896798.mp4"}
+{"uid":"2579605872443032934","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop it 2- lift a pen from the pen holder 3- Drop the black pen in the pen holder 4- Move closer to the holder 5- Move away from the left pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop it\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop it\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Drop it\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: immediate next step? \u003cPRED\u003eA: Drop it\n\u003c/PRED\u003e","video":"11928188949226254111.mp4"}
+{"uid":"2776778666072229488","text":"\u003ctask:success:discrete:True\u003e\nDrop the black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black pen in the pen holder\n\u003c/PRED\u003e","video":"18072927757524359667.mp4"}
+{"uid":"9825177700871678191","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the 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:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the pen holder\n\u003c/PRED\u003e","video":"9597869046223843063.mp4"}
+{"uid":"13174120980944274192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10791416886638576526.mp4"}
+{"uid":"11059274020794444292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Pick up the blue pen from the pen holder 14- Release it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release it\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Pick up the blue pen from the pen holder 14- Release it Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13275892338950777389.mp4"}
+{"uid":"7090846728908855304","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Drop the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- Grasp the blue pen in the pen holder 13- Drop the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7144682684060906628.mp4"}
+{"uid":"15983814093140979728","text":"\u003ctask:success:discrete:True\u003e\nPlace the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e","video":"2574049957159220861.mp4"}
+{"uid":"11933925694077091756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"15630436821411502804.mp4"}
+{"uid":"5291247249311945883","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue pen from the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1050320275717338901.mp4"}
+{"uid":"10684018202840210142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17398026792681493788.mp4"}
+{"uid":"8272450870688517124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5898132803191634191.mp4"}
+{"uid":"14720769270030175065","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the pen holder 2- lift a pen from the pen holder 3- Drop the black pen in the pen holder 4- Move closer to the holder 5- Move away from the left pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the 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: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the pen holder\n\u003c/PRED\u003e","video":"119036059816247989.mp4"}
+{"uid":"9145628694346863741","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift a blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- lift a blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder 10- Throw it 11- Go closer to the holder 12- lift a blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12165358337837962834.mp4"}
+{"uid":"7546836009576716899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4900412497202266998.mp4"}
+{"uid":"18376793085589903380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the popcorn 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":"15302080037464691480.mp4"}
+{"uid":"3403593550908537401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black cable 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":"10420377483219958597.mp4"}
+{"uid":"14416353101433663800","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift it\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6121579716697119789.mp4"}
+{"uid":"1512674498634716526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5013198896043703002.mp4"}
+{"uid":"10557105235238816311","text":"\u003ctask:success:discrete:True\u003e\nPlace the knives 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand 6- Place the knives in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand 6- Place the knives in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7444140614469571018.mp4"}
+{"uid":"8093110952852569695","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Move to the black holder\n\u003c/PRED\u003e","video":"5953530392213955281.mp4"}
+{"uid":"8020959211230375900","text":"\u003ctask:success:discrete:True\u003e\nPlace the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e","video":"11675146094028994202.mp4"}
+{"uid":"8255035067814236204","text":"\u003ctask:success:discrete:True\u003e\nPlace the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e","video":"8548933982651219360.mp4"}
+{"uid":"16435550147748514478","text":"\u003ctask:success:discrete:False\u003e\npick a blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick a blue pen from the pen holder 2- Throw it 3- Go closer to the holder 4- Grasp the blue pen in the pen holder 5- Pick up the blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen Q: immediate next step? \u003cPRED\u003eA: pick a blue pen from the pen holder\n\u003c/PRED\u003e","video":"15486851982206703356.mp4"}
+{"uid":"11015251214917762128","text":"\u003ctask:success:discrete:True\u003e\nplace the knives 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 knives in the stand\n\u003c/PRED\u003e","video":"10454160593525022226.mp4"}
+{"uid":"9902992949567445728","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place a knife in the stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder 5- place a knife in the stand Q: immediate next step? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a knife 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 a knife 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: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a knife in the stand\n\u003c/PRED\u003e","video":"14326650060367327183.mp4"}
+{"uid":"7010752071635408773","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue pen in the pen holder 2- Go closer to the holder 3- Grasp the blue pen in the pen holder 4- Pick up the blue pen from the pen holder 5- Drop the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens. Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move to the black holder 2- Pick the pen 3- Drop the black pen in the pen holder 4- lift a pen from the pen holder 5- Drop the black pen in the pen holder 6- Move closer to the holder 7- Move away from the left pens 8- Grasp the pen 9- pick a blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue pen in the pen holder\n\u003c/PRED\u003e","video":"6409270262975279010.mp4"}
+{"uid":"11824486042821899365","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":"3643079322831236819.mp4"}
+{"uid":"15717865614720960683","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in the knife holder 2- Place the knives in the holder 3- place a knife in the stand 4- put knife in the knife holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in the knife holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in the knife holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in the knife 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":"2614862767561896780.mp4"}
+{"uid":"2805446356031672688","text":"\u003ctask:success:discrete:True\u003e\nput knife in the knife 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 knife in the knife holder\n\u003c/PRED\u003e","video":"1083574532837448229.mp4"}
+{"uid":"2255839426148339153","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the knives in the holder 2- put knife in the knife holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder 3- place the knife in the stand 4- Place the knives in the holder Q: immediate next step? \u003cPRED\u003eA: Place the knives in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the knives 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":"11428233667185899811.mp4"}
+{"uid":"1026029915412019776","text":"\u003ctask:success:discrete:True\u003e\nput knife in the knife 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 knife in the knife holder\n\u003c/PRED\u003e","video":"15249666267346466474.mp4"}
+{"uid":"11112914642160381978","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":"15971308650833002731.mp4"}
+{"uid":"9008292461091002364","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the knife in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up Q: immediate next step? \u003cPRED\u003eA: place the knife in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the knife 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 knife in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder Q: immediate next step? \u003cPRED\u003eA: place the knife in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stock the knives into the container, handle side up. last 20 steps: 1- pick up the knives from the table 2- put knives in the knife holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the knife in the stand 2- Place the knives in the holder 3- place a knife in the stand 4- put knife in the knife holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the knife in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14595193970983167672.mp4"}
+{"uid":"10232713962719730904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brown 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":"7359265987502639191.mp4"}
+{"uid":"18010944424598963855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the screen cleaning wipe sachets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7978079922658036280.mp4"}
+{"uid":"13924329041610306513","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw it\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow it Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14399900638181778969.mp4"}
+{"uid":"8464206671351515317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder 6- place the pen into the pen case Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder 6- place the pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen into the pen case\n\u003c/PRED\u003e","video":"1176334781995483477.mp4"}
+{"uid":"7617040888730941368","text":"\u003ctask:success:discrete:True\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"10912704340532528953.mp4"}
+{"uid":"1926105527818318528","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":"4284152036951350430.mp4"}
+{"uid":"6200314415387638089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"10206767893534291099.mp4"}
+{"uid":"10315485765387389133","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the white bowl 2- put candy in the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e","video":"16718347394003152572.mp4"}
+{"uid":"11055920775418334207","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the brown bowl 2- place candy into the brown bowl 3- put papers on the table 4- put brown bowl on the papers 5- done\n\u003c/PRED\u003e","video":"10027187850856236321.mp4"}
+{"uid":"2893791095601720904","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"16234430489609057707.mp4"}
+{"uid":"16838939143268489701","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17263212979509355798.mp4"}
+{"uid":"10711444290408745734","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":"3232836782570237042.mp4"}
+{"uid":"7882809622786414198","text":"\u003ctask:success:discrete:True\u003e\nput brown bowl on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown bowl on the napkin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table 10- put brown bowl on the napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table 10- put brown bowl on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1830284431923169750.mp4"}
+{"uid":"5221869114530599721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder 6- pick the pen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder 6- pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"9655703370706120963.mp4"}
+{"uid":"14748215866437709235","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":"14426753070467412677.mp4"}
+{"uid":"8273363946806135314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3331878237326002307.mp4"}
+{"uid":"2432290980490637711","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen case 2- pick the pen 3- drop the pen into the pen holder 4- place the pen into the pen case 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e","video":"3381073768822659418.mp4"}
+{"uid":"14628990831547453127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1134982631915621519.mp4"}
+{"uid":"2559564702482752426","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen case\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen case 2- place the pen into the pen case 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen case\n\u003c/PRED\u003e","video":"1420900866291613519.mp4"}
+{"uid":"17429115182016590795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cups stack inside the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2057345111392828369.mp4"}
+{"uid":"9833529839024355807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box 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":"16244779584711781324.mp4"}
+{"uid":"8428245183506084212","text":"\u003ctask:success:discrete:True\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"4562625579365819124.mp4"}
+{"uid":"9386018595366015291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17371614642718526101.mp4"}
+{"uid":"14408375919060499709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2935101341493977211.mp4"}
+{"uid":"10562802782324135546","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table 10- put brown bowl on the papers Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table 10- put brown bowl on the papers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput brown bowl on the papers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown bowl on the papers\n\u003c/PRED\u003e","video":"2848294829212837881.mp4"}
+{"uid":"16788917742794297100","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate in the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- put papers on the table 5- put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12661712133084825343.mp4"}
+{"uid":"12178028907775295515","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2071087887837594085.mp4"}
+{"uid":"14357373407327673987","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e","video":"17057734296423942084.mp4"}
+{"uid":"10014182606604070663","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the stand 2- pick the pen 3- drop the pen into the pen holder 4- place the pen into the pen case 5- done\n\u003c/PRED\u003e","video":"5362960242328359472.mp4"}
+{"uid":"9685160199707462333","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":"7931924897704318552.mp4"}
+{"uid":"1465268799593211905","text":"\u003ctask:success:discrete:True\u003e\nput candy in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"13994700992688283996.mp4"}
+{"uid":"3155858616511892303","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana into the white bowl 2- place candy into the brown bowl 3- put candy in the brown bowl 4- place candy into the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana into the white bowl\n\u003c/PRED\u003e","video":"13977440329341342010.mp4"}
+{"uid":"10458520792514775171","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into the white bowl 2- place candy into the brown bowl 3- put candy in the brown bowl 4- place candy into the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"13982493856485409427.mp4"}
+{"uid":"5287296668986291277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the bag 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":"6702003800117933285.mp4"}
+{"uid":"13506253139542417369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5211382905540703421.mp4"}
+{"uid":"2318859006270150596","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14846085058395736112.mp4"}
+{"uid":"13325055106804052098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"7540386558346348540.mp4"}
+{"uid":"7304029881178136081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the pink marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12326701628357630651.mp4"}
+{"uid":"9696248530955608747","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":"6234691574089729644.mp4"}
+{"uid":"2257148556428715829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the red pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5501147760887332454.mp4"}
+{"uid":"10304153400008534779","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown bowl on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table Q: immediate next step? \u003cPRED\u003eA: put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown bowl on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown bowl on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13810471002652173878.mp4"}
+{"uid":"9492300691877489640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11272539229563426356.mp4"}
+{"uid":"14206406160305817984","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate in the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- put papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e","video":"17292202151637057238.mp4"}
+{"uid":"25446890112391678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14999092024991432685.mp4"}
+{"uid":"5031402062339502479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cup on up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1688684023723759903.mp4"}
+{"uid":"7280654472307480878","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- 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 pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"9539844544600432462.mp4"}
+{"uid":"12343151870341961534","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":"11850051971097793338.mp4"}
+{"uid":"14294649991413056279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow candy in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11181920487240111262.mp4"}
+{"uid":"11925106335264281585","text":"\u003ctask:success:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the white bowl 2- put orange in the white bowl 3- place candy into the brown bowl 4- put candy in the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15408222732177286775.mp4"}
+{"uid":"14766580030982612402","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":"1527345644997102528.mp4"}
+{"uid":"4987356231116382255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8486804434362554823.mp4"}
+{"uid":"7829653381741185929","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"742700338692734796.mp4"}
+{"uid":"1653169107436502232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11391616094045271733.mp4"}
+{"uid":"7603881430973763707","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- done\n\u003c/PRED\u003e","video":"11514120548951151451.mp4"}
+{"uid":"16158196531921731860","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e","video":"9209055269962427768.mp4"}
+{"uid":"8029225474511987217","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8107425270447637549.mp4"}
+{"uid":"18145465441635468094","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the brown bowl 2- put papers on the table 3- put brown bowl on the papers 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e","video":"17715469512182151367.mp4"}
+{"uid":"16613909469187133548","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place napkin on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18294690919936791911.mp4"}
+{"uid":"9297904007862632165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen box 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":"244430947437279438.mp4"}
+{"uid":"9929677632341215817","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put candy in the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8653034280777571649.mp4"}
+{"uid":"8239935583264989740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand 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":"6064547065350874904.mp4"}
+{"uid":"4017049186286754509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11281337328412131279.mp4"}
+{"uid":"9136698002180693044","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- pick the pen 3- drop the pen into the pen holder 4- place the pen into the pen case 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"1223347541516677029.mp4"}
+{"uid":"11698885774725154361","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e","video":"447688784023268609.mp4"}
+{"uid":"16820472779310723579","text":"\u003ctask:success:discrete:True\u003e\nput papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e","video":"3972660309242038114.mp4"}
+{"uid":"1456400164796001885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink pouch in the bottom center partition of the kit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10181911340181160984.mp4"}
+{"uid":"8035085893122800721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case Q: immediate next step? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16104346893722680164.mp4"}
+{"uid":"5259065591359272964","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put papers on the table 2- put brown bowl on the papers 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e","video":"17514250389042986844.mp4"}
+{"uid":"9228759437816676671","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace candy into the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- put papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e","video":"3163511814318966687.mp4"}
+{"uid":"1205496109103418324","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":"1315092320541784341.mp4"}
+{"uid":"15969047069293334596","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate in the brown bowl 2- put brown bowl on the papers 3- done\n\u003c/PRED\u003e","video":"9180466108906086750.mp4"}
+{"uid":"8538791936642642259","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder 6- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder 6- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 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":"13320330883286129756.mp4"}
+{"uid":"8577833422734077496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a white sugar packet inside the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"226445770633358581.mp4"}
+{"uid":"6604137967963320748","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e","video":"14066117872319523118.mp4"}
+{"uid":"8917049222587284226","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- put the pen into the pen case 3- pick the pen 4- drop the pen into the pen holder 5- place the pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"2567197252913003763.mp4"}
+{"uid":"15293508372162453848","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 into the pen case\n\u003c/PRED\u003e","video":"9007359013499415266.mp4"}
+{"uid":"15431835635680734261","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put candy in the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e","video":"9855133878242850575.mp4"}
+{"uid":"13281496555539014357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2271495570077897963.mp4"}
+{"uid":"594293471765122742","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- drop the pen into the pen holder 3- place the pen into the pen case 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"7833289327990638780.mp4"}
+{"uid":"3656889250762249194","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- put papers on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy into the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e","video":"6661519148800416785.mp4"}
+{"uid":"10641291770084423696","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- place candy into the brown bowl 5- put papers on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"12956381683864225186.mp4"}
+{"uid":"14439826946390398388","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14795993201557809870.mp4"}
+{"uid":"964772262162426487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the packet from table and place 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":"12031822984087100348.mp4"}
+{"uid":"1205127780131577553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red 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":"13222364261674619769.mp4"}
+{"uid":"7896723254423982604","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate in the brown bowl 2- place candy into the brown bowl 3- put papers on the table 4- put brown bowl on the papers 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"499652827194680785.mp4"}
+{"uid":"4490546233223708618","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown bowl on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put brown bowl on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown bowl on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table Q: immediate next step? \u003cPRED\u003eA: put brown bowl on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown bowl on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- place napkin on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown bowl on the napkin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- place napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown bowl on the napkin\n\u003c/PRED\u003e","video":"4250126865505875575.mp4"}
+{"uid":"12874994321011552979","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- place the pen into the pen case 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"13275655962224058511.mp4"}
+{"uid":"13591446875549909624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12523410795322378422.mp4"}
+{"uid":"16663999902175982668","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6656629721785763164.mp4"}
+{"uid":"16966001155960190673","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the banana in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the white bowl 2- place candy into the brown bowl 3- put candy in the brown bowl 4- place candy into the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the banana in the white bowl\n\u003c/PRED\u003e","video":"14551994261025698484.mp4"}
+{"uid":"5946157620351399670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13349610583355999968.mp4"}
+{"uid":"11319699528786625814","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put papers on the table 3- put brown bowl on the papers 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"38702194919183882.mp4"}
+{"uid":"763090444377298657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two candies 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":"13613378513999216305.mp4"}
+{"uid":"5745113480101116096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cheese balls in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11182675152941493140.mp4"}
+{"uid":"17985007759183510930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the regulator 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":"1654310117601418713.mp4"}
+{"uid":"10723067586334317483","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- put papers on the table 5- put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"8083205504459511925.mp4"}
+{"uid":"18244112063399061442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlock the drawer with the keys Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15401356741191225130.mp4"}
+{"uid":"16690206745884975090","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate in the brown bowl 2- place candy into the brown bowl 3- put papers on the table 4- put brown bowl on the papers 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate in the brown bowl\n\u003c/PRED\u003e","video":"14397797274572667017.mp4"}
+{"uid":"8419370859324482792","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put orange in the white bowl 3- place candy into the brown bowl 4- put candy in the brown bowl 5- place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"10910397720071989620.mp4"}
+{"uid":"17351670746722448994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- put the pen in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- put the pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17201639631832264029.mp4"}
+{"uid":"4669390558735221777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the charger unit 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":"6770619672290808109.mp4"}
+{"uid":"1844895864236534224","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown bowl on the papers 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown bowl on the papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl 7- place candy into the brown bowl 8- place candy into the brown bowl 9- put papers on the table Q: immediate next step? \u003cPRED\u003eA: put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown bowl on the papers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3581060827285534979.mp4"}
+{"uid":"6045298042794243733","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put papers on the table 3- put brown bowl on the papers 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl 6- place candy into the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"5381848490429431668.mp4"}
+{"uid":"17064248961564628646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8029584365995339543.mp4"}
+{"uid":"12120761140119982917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cream color 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":"9660933681509338237.mp4"}
+{"uid":"2012513180893544781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the box on the upper 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":"18190990873591709743.mp4"}
+{"uid":"15098323254432071790","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange into the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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\nput 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","video":"1893995504761962111.mp4"}
+{"uid":"1802779390624118174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sugar candies in a 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":"6739079266282940777.mp4"}
+{"uid":"14880088773416984458","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7986877905523878732.mp4"}
+{"uid":"1255198702921411988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1503228501887349998.mp4"}
+{"uid":"9770938494245179812","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":"3899114496758440129.mp4"}
+{"uid":"12493597681758996036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the battery 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":"12201095360046804308.mp4"}
+{"uid":"11753791599522794265","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen into the pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 into the pen case\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder 3- put the pen into the pen case 4- pick the pen 5- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the pen case 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the pen case\n\u003c/PRED\u003e","video":"8424558316877086444.mp4"}
+{"uid":"17980723714128900947","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":"1670999446511439847.mp4"}
+{"uid":"8520891291962620401","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the blue pens back into the pen holder with the other blue pens. last 20 steps: 1- put the pen into the pen case 2- drop the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- pick the pen 3- drop the pen into the pen holder 4- place the pen into the pen case 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"16628883524930939997.mp4"}
+{"uid":"214945618229162234","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place candy into the brown bowl 2- place candy into the brown bowl 3- place candy into the brown bowl 4- put papers on the table 5- put brown bowl on the papers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace candy into the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the white bowl 4- place candy into the brown bowl 5- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place candy into the brown bowl\n\u003c/PRED\u003e","video":"5590761712351938734.mp4"}
+{"uid":"262567277756874140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the small sachet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8949118639634099540.mp4"}
+{"uid":"1973064607426945605","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"16126195600814687446.mp4"}
+{"uid":"12587722958901240661","text":"\u003ctask:success:discrete:True\u003e\npick up the glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e","video":"16716681759671872526.mp4"}
+{"uid":"7644873202689542366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12659921616578191330.mp4"}
+{"uid":"822508538622172095","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the package for table\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: pick up the package for table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the package for table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the package for table\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: pick up the package for table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the package for table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- pick up the package for table 2- pick up the fruit from the table 3- pick up the glass from the table 4- Put the pen in the box 5- pick up the pen from the table\n\u003c/PRED\u003e","video":"2449296946411191118.mp4"}
+{"uid":"13673177931930850693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"4324647745783613694.mp4"}
+{"uid":"16186739602188928454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"11557204941097284747.mp4"}
+{"uid":"8809635068860028607","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fruit from the table\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- Put the blue packet in box 3- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: pick up the fruit from the table\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- Put the blue packet in box 3- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fruit from the table 2- pick up the glass from the table 3- Put the pen in the box 4- pick up the pen from the table 5- Put the white box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fruit 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 fruit from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fruit 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the fruit from the table\n\u003c/PRED\u003e","video":"6469346115350288636.mp4"}
+{"uid":"6196952128488297320","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 cup 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup into the box 2- Put the pen in the box 3- pick up the pen from the table 4- Put the white box in the box 5- pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup 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 cup into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table Q: immediate next step? \u003cPRED\u003eA: drop the cup into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup 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":"2381447730726041468.mp4"}
+{"uid":"440594468593217404","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7908744017576573305.mp4"}
+{"uid":"6851686941533378173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2118222170210961592.mp4"}
+{"uid":"8843713219882619299","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"541440266083080695.mp4"}
+{"uid":"16527727538757405837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"16900823148673151433.mp4"}
+{"uid":"11419564456726954449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tong in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18411065510065206627.mp4"}
+{"uid":"3670618964987429387","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: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- Put the white box in the box 3- pick up the pen from the table 4- Put the white chips packet in box 5- done\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: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: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"6394524044982535370.mp4"}
+{"uid":"6350630852187067825","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen 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 into the box\n\u003c/PRED\u003e","video":"9373173701148731751.mp4"}
+{"uid":"14358608685008397520","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":"1417786206717098316.mp4"}
+{"uid":"2998965451913269635","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":"1683536041784262523.mp4"}
+{"uid":"1582378008530168109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange 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":"469890005371654462.mp4"}
+{"uid":"7094086947525356901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5903778558893471870.mp4"}
+{"uid":"10576703878940780290","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":"12560662890433771790.mp4"}
+{"uid":"5106205161996499695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the fruit from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the fruit 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":"14762465443202507833.mp4"}
+{"uid":"2029091326687539898","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"16613126178900300742.mp4"}
+{"uid":"8816150949191135768","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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- pick up the pen from the table 3- Put the white box in the box 4- pick up the pen from the table 5- Put the white chips packet 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: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"14784114690649128867.mp4"}
+{"uid":"380587352063893787","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white box in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the white box 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white box in the box 2- Put the white chips packet in box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white 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:success:discrete:False\u003e\nPut the white 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: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Put the white box in the box\n\u003c/PRED\u003e","video":"5831798754364879260.mp4"}
+{"uid":"15478618933554012543","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":"15122106783127017605.mp4"}
+{"uid":"16426131384661554057","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- Put the white chips packet in box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white chips 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white chips 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- Put the white chips packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9972177768711641529.mp4"}
+{"uid":"9423299545103260613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4726734902032898958.mp4"}
+{"uid":"6370505260526294996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"18375743256623665375.mp4"}
+{"uid":"18217294811833308202","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue 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":"5849601128537843374.mp4"}
+{"uid":"7442742306907400793","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4788059476316521437.mp4"}
+{"uid":"11467656283866153774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the package from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table 10- pick up the package from the table 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table 10- pick up the package from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4406029952611648949.mp4"}
+{"uid":"3506519771208833148","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":"13203725764206109098.mp4"}
+{"uid":"6718061058530167207","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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"11638846064138240454.mp4"}
+{"uid":"1779228893407314175","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: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask: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: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","video":"5302712730118532437.mp4"}
+{"uid":"4541244720840627714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5327075061029784247.mp4"}
+{"uid":"1942861791041805162","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white 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 white packet 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 the white packet 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet into the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white 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: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the white packet into the box\n\u003c/PRED\u003e","video":"5115389203850566573.mp4"}
+{"uid":"18202003222686939800","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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the binder clip into the box 2- pick up the pen from the table 3- Put the white chips packet in box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the binder clip into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the binder clip 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 binder clip into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the binder clip into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the binder clip into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the binder clip into the box\n\u003c/PRED\u003e","video":"4328849248587263215.mp4"}
+{"uid":"8790495483540748199","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box Q: immediate next step? \u003cPRED\u003eA: drop the pen 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 the pen 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 into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the box 2- Put the white chips packet in box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen 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","video":"14145620209611388849.mp4"}
+{"uid":"8616758479777948136","text":"\u003ctask:success:discrete:False\u003e\npick up the glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table Q: immediate next step? \u003cPRED\u003eA: pick up the glass from the table\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: pick up the glass from the table\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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass from the table 2- pick up the pen from the table 3- Put the white box in the box 4- pick up the pen from the table 5- Put the white chips packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e","video":"6895802879328232368.mp4"}
+{"uid":"16896563668974633413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen 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":"8904614483001054671.mp4"}
+{"uid":"17863788789725615504","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup 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 cup into the box\n\u003c/PRED\u003e","video":"10789613725369190856.mp4"}
+{"uid":"15590768989244821212","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":"2413561622014871178.mp4"}
+{"uid":"5988156965670115261","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":"11149303480945630181.mp4"}
+{"uid":"9334304301754766093","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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box Q: immediate next step? \u003cPRED\u003eA: Put the white chips packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white chips packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white chips packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white chips 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white chips packet in box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white chips 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 the white chips packet in box\n\u003c/PRED\u003e","video":"1699576782704082703.mp4"}
+{"uid":"12661892644229326651","text":"\u003ctask:success:discrete:True\u003e\ndrop the white 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: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table 10- drop the white packet into the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white packet 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table 10- drop the white packet into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14817440552221020768.mp4"}
+{"uid":"10527012063552597667","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup 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 cup into the box\n\u003c/PRED\u003e","video":"16302385332536281095.mp4"}
+{"uid":"1299281847908502696","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white 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":"8520059633394279558.mp4"}
+{"uid":"8142192089064127039","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e","video":"605904313011699783.mp4"}
+{"uid":"6010470317406088935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker 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":"1871774083022529727.mp4"}
+{"uid":"10339662622258507739","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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the box 2- Put the white chips packet in box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e","video":"13483385255825807086.mp4"}
+{"uid":"14869666968415686721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the orange object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange object in the box 2- pick up the glass from the table 3- Put the pen in the box 4- pick up the pen from the table 5- Put the white box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the blue packet in box 3- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: Put the orange object in the box\n\u003c/PRED\u003e","video":"14541440901738879687.mp4"}
+{"uid":"16190445304475948820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\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","video":"2720515913191932633.mp4"}
+{"uid":"14733738742514601982","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table\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: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","video":"8877944373548615775.mp4"}
+{"uid":"10428973952941305940","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the package from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table 8- Put the white box in the box 9- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the package from the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the package from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11682581681274052709.mp4"}
+{"uid":"16110583428849284751","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the box 2- pick up the pen from the table 3- Put the white box in the box 4- pick up the pen from the table 5- Put the white chips 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e","video":"1523164705175486453.mp4"}
+{"uid":"15099563691743241190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown cloth on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2499096383328820014.mp4"}
+{"uid":"6945019251280243197","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: pick up the box from the table\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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box from the table 2- Put the white chips packet in box 3- done\n\u003c/PRED\u003e","video":"18021847609825383731.mp4"}
+{"uid":"941501143980943468","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen 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 pen 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the box 2- pick up the pen from the table 3- Put the white box in the box 4- pick up the pen from the table 5- Put the white chips packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen 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":"8317430415621112907.mp4"}
+{"uid":"11190463689241486687","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 Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in box 2- pick up the glass from the table 3- pick up the fruit from the table 4- pick up the glass from the table 5- Put the pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue 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 Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet 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 the blue packet in box\n\u003c/PRED\u003e","video":"11121426449966801112.mp4"}
+{"uid":"6930826060320045702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"4420700628762489648.mp4"}
+{"uid":"11288798628574652783","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":"11428826037280982500.mp4"}
+{"uid":"5536752405472381496","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen 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 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the box 2- Put the white box in the box 3- pick up the pen from the table 4- Put the white chips packet 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box Q: immediate next step? \u003cPRED\u003eA: drop the pen into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen 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 pen 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 pen into the box\n\u003c/PRED\u003e","video":"13483150538774560591.mp4"}
+{"uid":"16277976172880053231","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":"1913415127548396252.mp4"}
+{"uid":"9345265901227582255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on the existing 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":"8338161875534550851.mp4"}
+{"uid":"12549034215601083848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the jar lid 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":"8206810981693707598.mp4"}
+{"uid":"4632835322705429242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12651069119280896625.mp4"}
+{"uid":"8764681655268270601","text":"\u003ctask:success:discrete:True\u003e\npick up the package for table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 package for table\n\u003c/PRED\u003e","video":"16801612767715911625.mp4"}
+{"uid":"16232460326787234914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite something on the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10911542595210084373.mp4"}
+{"uid":"16436128296552958239","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: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass from the table\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- Put the blue packet in box Q: immediate next step? \u003cPRED\u003eA: pick up the glass from the table\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- Put the blue packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass from the table 2- pick up the fruit from the table 3- pick up the glass from the table 4- Put the pen in the box 5- pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4286349703757609047.mp4"}
+{"uid":"12132349642722538577","text":"\u003ctask:success:discrete:False\u003e\nPut the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the box 2- Put the white box in the box 3- pick up the pen from the table 4- Put the white chips packet in box 5- done\n\u003c/PRED\u003e","video":"2923215969478523631.mp4"}
+{"uid":"17203003894094712990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the spoon holder 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":"8081417838203470220.mp4"}
+{"uid":"3795682857098352583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in 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":"14761683465887674815.mp4"}
+{"uid":"14480423052674167620","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12999609710354688564.mp4"}
+{"uid":"2378752583319688218","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- Put the blue packet in box 3- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the fruit into the box 2- pick up the glass from the table 3- Put the pen in the box 4- pick up the pen from the table 5- Put the white box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the fruit 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 fruit into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the fruit 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- Put the blue packet in box 3- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: drop the fruit into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the fruit into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the fruit into the box\n\u003c/PRED\u003e","video":"3571999329129053781.mp4"}
+{"uid":"12446325752966183861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7931349940126451919.mp4"}
+{"uid":"17373260087537478648","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup 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- Put the blue packet in box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup into the box 2- pick up the fruit from the table 3- pick up the glass from the table 4- Put the pen in the box 5- pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup 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- Put the blue packet in box Q: immediate next step? \u003cPRED\u003eA: drop the cup into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup 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 the cup into the box\n\u003c/PRED\u003e","video":"6573594064095966648.mp4"}
+{"uid":"1485004924016975116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy into the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8422720639370092180.mp4"}
+{"uid":"15920412781491402534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue 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: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 blue packet 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 Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue packet into the box 2- pick up the glass from the table 3- pick up the fruit from the table 4- pick up the glass from the table 5- Put the pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue packet into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue packet 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 the blue packet into the box\n\u003c/PRED\u003e","video":"10050712424107624297.mp4"}
+{"uid":"3179756798518810147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo 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":"12321345444205207631.mp4"}
+{"uid":"6406290862060121876","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table 5- pick up the glass from the table 6- Put the pen in the box 7- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask: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: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","video":"3549472526996315838.mp4"}
+{"uid":"8464661198448985277","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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the pen 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- Put the blue packet in box 3- pick up the glass from the table 4- pick up the fruit from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the box 2- pick up the pen from the table 3- Put the white box in the box 4- pick up the pen from the table 5- Put the white chips packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the box\n\u003c/PRED\u003e","video":"16860247781178209476.mp4"}
+{"uid":"13134334887374212599","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic knives in the knives glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"16778538234521959632.mp4"}
+{"uid":"1132943258689605279","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"3536537979422057152.mp4"}
+{"uid":"1449181101533971006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8105168257206919111.mp4"}
+{"uid":"281453208289799716","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knives in the knives 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":"13773079880017087767.mp4"}
+{"uid":"3065335769442951999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9679687488685717822.mp4"}
+{"uid":"17738753098959479892","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knives in the knives glass 3- Put the plastic knives in the knives glass 4- Put the plastic knives in the knives glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"15911797918705704361.mp4"}
+{"uid":"9506372625527628959","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic knives in the knives glass 4- Put the plastic knives in the knives glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"10745034351446825463.mp4"}
+{"uid":"1818047538789153208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knives in the knives 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":"9464454098081247118.mp4"}
+{"uid":"58409794993150324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10244099544196679379.mp4"}
+{"uid":"1282723112267608061","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":"11977623613801241067.mp4"}
+{"uid":"930590120200540214","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":"9092949445477517638.mp4"}
+{"uid":"2968398483019672452","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knives in the knives 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":"16978481934097063883.mp4"}
+{"uid":"9417238358075096391","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic knives in the knives glass 3- Put the plastic knives in the knives glass 4- Put the plastic knives in the knives glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"2760680722201518598.mp4"}
+{"uid":"10221591407960273349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8746863290835813058.mp4"}
+{"uid":"16252280558741156103","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knives in the knives glass 3- Put the plastic knives in the knives glass 4- Put the plastic knives in the knives glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"3542154308434245890.mp4"}
+{"uid":"284032318188042397","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic forks in the forks glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks 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":"4733259625987815766.mp4"}
+{"uid":"17083862463307120259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18400803605799611548.mp4"}
+{"uid":"4578747298195897323","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic forks in the forks 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":"17740824819338457872.mp4"}
+{"uid":"903468039680518479","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic knives in the knives glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knives in the knives glass 3- Put the plastic knives in the knives glass 4- Put the plastic knives in the knives glass 5- Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"4205068455325090449.mp4"}
+{"uid":"733239002313868831","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic forks in the forks glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"6440733482689967554.mp4"}
+{"uid":"1141701658848491227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9638545944866008625.mp4"}
+{"uid":"13971344691987861548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green mug 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":"15643624447323959374.mp4"}
+{"uid":"13355969081966913562","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knives in the knives glass 3- Put the plastic knives in the knives glass 4- Put the plastic knives in the knives glass 5- Put the plastic knife in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"3657927399724945009.mp4"}
+{"uid":"11160240420270591620","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass 12- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knives in the knives glass 3- Put the plastic knife in the knives glass 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass 12- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"18099823164303191591.mp4"}
+{"uid":"3190091513379545099","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":"5223448600227274767.mp4"}
+{"uid":"791670835046075296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the flap 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":"16270976004452069341.mp4"}
+{"uid":"698649619766035711","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"3510328817018729236.mp4"}
+{"uid":"7749368838843360239","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":"7150936078466616164.mp4"}
+{"uid":"9831846444849601162","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic forks in the forks glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"14458856349777176541.mp4"}
+{"uid":"6587746713839917396","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in the forks glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"7284984077565684890.mp4"}
+{"uid":"10554687523738248852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knives in the knives 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":"8037988053692663335.mp4"}
+{"uid":"10073757415454106060","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic forks in the forks glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic forks in the forks glass\n\u003c/PRED\u003e","video":"18228125356541796643.mp4"}
+{"uid":"2973496989650256904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the plastic fork 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":"17860399258068139633.mp4"}
+{"uid":"17011177474932767488","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knives in the knives glass 3- Put the plastic knives in the knives glass 4- Put the plastic knife in the knives glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"10219414997769615514.mp4"}
+{"uid":"15030663420182430632","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":"1994739045582595699.mp4"}
+{"uid":"7489891597206538346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the duck in 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":"2575506600200883525.mp4"}
+{"uid":"15961226365122529384","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knives in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass 12- Put the plastic knives in the knives glass 13- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass 12- Put the plastic knives in the knives glass 13- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knives in the knives glass 2- Put the plastic knife in the knives glass 3- done\n\u003c/PRED\u003e","video":"16065499270418641070.mp4"}
+{"uid":"7991239321255959304","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knives in the knives 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":"3442060595136958459.mp4"}
+{"uid":"7637767577015533093","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic knives in the knives glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knives in the knives glass\n\u003c/PRED\u003e","video":"3507362466591282509.mp4"}
+{"uid":"8714778020773444216","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the knives glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the knives glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the knives glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass 12- Put the plastic knives in the knives glass 13- Put the plastic knives in the knives glass 14- Put the plastic knives in the knives glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the knives glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the knives glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK. last 20 steps: 1- Put the plastic forks in the forks glass 2- Put the plastic forks in the forks glass 3- Put the plastic forks in the forks glass 4- Put the plastic forks in the forks glass 5- Put the plastic forks in the forks glass 6- Put the plastic forks in the forks glass 7- Put the plastic forks in the forks glass 8- Put the plastic knives in the knives glass 9- Put the plastic knives in the knives glass 10- Put the plastic knives in the knives glass 11- Put the plastic knives in the knives glass 12- Put the plastic knives in the knives glass 13- Put the plastic knives in the knives glass 14- Put the plastic knives in the knives glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the knives glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the forks and knives cup in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the knives glass\n\u003c/PRED\u003e","video":"11202603841521759362.mp4"}
+{"uid":"7147900333123364393","text":"\u003ctask:success:discrete:True\u003e\nDrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e","video":"8289867353966216911.mp4"}
+{"uid":"17114376998954748233","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bean in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bean in cup 2- place a tablet in the glass 3- pick the bean from floor 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6576179697123759283.mp4"}
+{"uid":"12743082434031609645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the mouse pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16306366714577724750.mp4"}
+{"uid":"3304808024110346189","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place a tablet in the glass 2- pick the bean from floor 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tablet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a tablet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e","video":"14369513560422595821.mp4"}
+{"uid":"13674704999706528659","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the drawing in red color\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: wipe the drawing in red color\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the drawing in red color Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the drawing in red color Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the towel Q: immediate next step? \u003cPRED\u003eA: wipe the drawing in red color\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the towel Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the drawing in red color 2- wipe the board 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the drawing in red color\n\u003c/PRED\u003e","video":"9560558327822787934.mp4"}
+{"uid":"15662774520309494111","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the stone into the glass 2- place a tablet in the glass 3- place a tablet in the glass 4- pick the bean from floor 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the stone into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the stone into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e","video":"16333283881877899781.mp4"}
+{"uid":"13760482927076548500","text":"\u003ctask:success:discrete:True\u003e\nPut the stone into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e","video":"475472849172694747.mp4"}
+{"uid":"6842377364597751115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the third orange highlighter 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":"3482788674293429799.mp4"}
+{"uid":"2590962775446648803","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bean in cup 2- place a tablet in the glass 3- place a tablet in the glass 4- pick the bean from floor 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bean in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13413278343377953823.mp4"}
+{"uid":"5661593132800318254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15554511470639764219.mp4"}
+{"uid":"15061130986869420524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17499623158754594888.mp4"}
+{"uid":"13969324314541075996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"17969802500524796064.mp4"}
+{"uid":"15158657787480074772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass 6- pick the bean from floor Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bean from floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass 6- pick the bean from floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bean from floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1585958175811514394.mp4"}
+{"uid":"2109658874159690624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the towel 2- wipe the drawing in red color 3- wipe the board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the towel 2- wipe the drawing in red color 3- wipe the board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7068895561947052122.mp4"}
+{"uid":"4996441377625649837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1020869818190705725.mp4"}
+{"uid":"1650791945188819174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the two packets from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11497575699862341341.mp4"}
+{"uid":"11982733077293787354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the towel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the towel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11018859307760105389.mp4"}
+{"uid":"4325405808421136372","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a tablet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5490876595498996668.mp4"}
+{"uid":"18324041725068340077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11920472932624487119.mp4"}
+{"uid":"4910197759511320274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"12271609217106222215.mp4"}
+{"uid":"3640807061133033029","text":"\u003ctask:success:discrete:True\u003e\nplace a tablet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e","video":"18187864399903938253.mp4"}
+{"uid":"1105110648798635663","text":"\u003ctask:success:discrete:False\u003e\npick up the towel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 towel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the towel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 towel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: pick up the towel\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the towel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the towel 2- wipe the drawing in red color 3- wipe the board 4- done\n\u003c/PRED\u003e","video":"17885212824863604165.mp4"}
+{"uid":"760218522715741905","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a tablet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11353522746885342733.mp4"}
+{"uid":"11008110616781697304","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard Q: immediate next step? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the towel 2- wipe the drawing in red color Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the board 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe off the drawing on the whiteboard. last 20 steps: 1- pick up the towel 2- wipe the drawing in red color Q: immediate next step? \u003cPRED\u003eA: wipe the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe 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:success:discrete:False\u003e\nwipe 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":"10549964231734185613.mp4"}
+{"uid":"8077923660056689291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown sugar 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":"8618523274343074609.mp4"}
+{"uid":"16382339788181424663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"738514182601027362.mp4"}
+{"uid":"13303577805058167937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"583818282745792361.mp4"}
+{"uid":"17148139590160606352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the stone into 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":"4496173845504334817.mp4"}
+{"uid":"6248575530015382232","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tablet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass 6- pick up the tablet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass 6- pick up the tablet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the tablet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6867923613038573600.mp4"}
+{"uid":"263962165819649375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18366121010178920305.mp4"}
+{"uid":"9246021046735422338","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a tablet in the glass 2- place a tablet in the glass 3- place a tablet in the glass 4- pick the bean from floor 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tablet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15253349574920276307.mp4"}
+{"uid":"13600924412051812016","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tablet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tablet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the tablet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: pick up the tablet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tablet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tablet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tablet\n\u003c/PRED\u003e","video":"334554571512975433.mp4"}
+{"uid":"12709233114954728709","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a tablet in the glass 2- place a tablet in the glass 3- pick the bean from floor 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tablet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e","video":"9505645185821944051.mp4"}
+{"uid":"8752640044844979404","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the stone into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the stone into the glass 2- pick the bean from floor 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the stone into 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":"703016553074037014.mp4"}
+{"uid":"12462338533743369584","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a tablet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"173654994021228539.mp4"}
+{"uid":"1847960004589717539","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the stone into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the stone into 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: pick up the espresso beans and put them into the small cup on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the stone into the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e","video":"12421671960728836416.mp4"}
+{"uid":"2333095397389833751","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bean in cup 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bean in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9323083575848589173.mp4"}
+{"uid":"18322943331015028933","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the stone into the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the stone into the glass 2- place a tablet in the glass 3- place a tablet in the glass 4- pick the bean from floor 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the stone into 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: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e","video":"11798970952533030563.mp4"}
+{"uid":"6013471186574068417","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":"8679998387835688579.mp4"}
+{"uid":"15841233418008724779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"8345249952492138695.mp4"}
+{"uid":"13078322022380758991","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bean in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bean in cup 2- place a tablet in the glass 3- place a tablet in the glass 4- pick the bean from floor 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e","video":"13820371079181043294.mp4"}
+{"uid":"14170893402664952270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pentagon 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":"3749473575819070697.mp4"}
+{"uid":"13343886515111063612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a tablet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12832813586401171257.mp4"}
+{"uid":"5291989112238171080","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bean in cup 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bean in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12254721423872883951.mp4"}
+{"uid":"10195153436656747076","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":"7720165217271409097.mp4"}
+{"uid":"14851094497753132163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the drawing in red color\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the drawing in red color Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5658142379533306018.mp4"}
+{"uid":"12429250330671556275","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bean from floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: pick the bean from floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bean from floor 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bean from floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bean from floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: pick the bean from floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bean from floor\n\u003c/PRED\u003e","video":"9618278483314472712.mp4"}
+{"uid":"5756780411931314244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3046065420333968299.mp4"}
+{"uid":"18413696126577453740","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place a tablet in the glass 2- place a tablet in the glass 3- place a tablet in the glass 4- pick the bean from floor 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tablet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tablet in the glass\n\u003c/PRED\u003e","video":"1305761739728809854.mp4"}
+{"uid":"7757887606009387398","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the stone from the ground Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 stone from the ground\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the stone from the ground Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 stone from the ground\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the stone from the ground\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: pick up the stone from the ground\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the stone from the ground 2- done\n\u003c/PRED\u003e","video":"18126005714449088787.mp4"}
+{"uid":"6227616064625204118","text":"\u003ctask:success:discrete:True\u003e\nDrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the bean in cup\n\u003c/PRED\u003e","video":"10217386828150984825.mp4"}
+{"uid":"10609321424330775162","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the stone into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup Q: immediate next step? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the stone into the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the stone into the glass 2- place a tablet in the glass 3- pick the bean from floor 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the stone into 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":"7973718793310154467.mp4"}
+{"uid":"1618144999006367266","text":"\u003ctask:success:discrete:True\u003e\npick up the stone from the ground Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass 6- pick up the stone from the ground Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass 5- place a tablet in the glass 6- pick up the stone from the ground Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the stone from the ground\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12352465941395061459.mp4"}
+{"uid":"18218365721117177908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4154036730337911197.mp4"}
+{"uid":"15867481973590221899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3083242074455953241.mp4"}
+{"uid":"1515377005500301878","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bean in cup 2- pick the bean from floor 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table. last 20 steps: 1- place a tablet in the glass 2- Drop the bean in cup 3- Drop the bean in cup 4- place a tablet in the glass Q: immediate next step? \u003cPRED\u003eA: drop the bean in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bean in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bean in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bean in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bean in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the espresso beans and put them into the small cup on the table Q: immediate next step? \u003cPRED\u003eA: drop the bean in cup\n\u003c/PRED\u003e","video":"5052437199659544766.mp4"}
+{"uid":"6095328234870671839","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":"7196536239643758338.mp4"}
+{"uid":"3917259457330033063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8409261549048592425.mp4"}
+{"uid":"9750133483970631409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11037868857199598714.mp4"}
+{"uid":"11711928641701291351","text":"\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: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 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:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done 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: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- 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","video":"5490454559873441744.mp4"}
+{"uid":"907920062790556532","text":"\u003ctask:success:discrete:True\u003e\nput watermelon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put watermelon on the table\n\u003c/PRED\u003e","video":"6950797466031033300.mp4"}
+{"uid":"2616362636253268496","text":"\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"14539697792304757053.mp4"}
+{"uid":"10774473068762051979","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table 9- put fruit on the table 10- put watermelon on the table 11- put 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: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table 9- put fruit on the table 10- put watermelon on the table 11- put fruit on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e","video":"10908948867768065162.mp4"}
+{"uid":"11943424599043099554","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray 9- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray 9- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"1946451798190914020.mp4"}
+{"uid":"9044937537775116578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the Pistachio glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10103604058402655128.mp4"}
+{"uid":"14665103196383853808","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3584572926124648893.mp4"}
+{"uid":"2834758498918422502","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"14458542747379072954.mp4"}
+{"uid":"1548691204892875715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"6712618233035400793.mp4"}
+{"uid":"371983301331752757","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put banana on the table 3- put fruit on the table 4- put watermelon on the table 5- put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17677621310106735060.mp4"}
+{"uid":"14646699261856532721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put banana on the table 3- put orange on the table 4- put banana on the table 5- put fruit on the table\n\u003c/PRED\u003e","video":"17708103145807281804.mp4"}
+{"uid":"15994853481025121522","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"15828636100869462025.mp4"}
+{"uid":"5338405795483276900","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":"15798814309610863078.mp4"}
+{"uid":"16808493229506067290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6030393702075409534.mp4"}
+{"uid":"14367396474315497580","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put fruit on the table 3- put watermelon on the table 4- put fruit on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17129558960609648261.mp4"}
+{"uid":"465340283583103061","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":"43009911530443320.mp4"}
+{"uid":"4862680226156382856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"2572627270930956633.mp4"}
+{"uid":"15760790649108950340","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"5770637369225542579.mp4"}
+{"uid":"16972142219295837272","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":"7249870820603265002.mp4"}
+{"uid":"17798828979466856115","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":"15381359060096587391.mp4"}
+{"uid":"2468819198658064411","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Close the drawer 4- done\n\u003c/PRED\u003e","video":"16100626443575678946.mp4"}
+{"uid":"609763032681951345","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- put pear on the table 4- put banana on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"5839369237238347652.mp4"}
+{"uid":"10478567557020480418","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":"7934730891765321220.mp4"}
+{"uid":"2815885188775971271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16474656998559035062.mp4"}
+{"uid":"11209037084866171956","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray 7- Put the packet in the tray 8- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"11352798760635558299.mp4"}
+{"uid":"11953065812638350467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple 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":"8863553001891557994.mp4"}
+{"uid":"3895480881643581944","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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Put the pear in the bowl 6- Put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Put the pear in the bowl 6- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"11651742349343168441.mp4"}
+{"uid":"11080990130313728763","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":"13158793946761604762.mp4"}
+{"uid":"12679552514950837950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9264281428571893061.mp4"}
+{"uid":"7675541847069231237","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray 6- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- done\n\u003c/PRED\u003e","video":"1711760934681058592.mp4"}
+{"uid":"1769936325214713221","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put banana on the table 3- put banana on the table 4- put pear on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"1975141814468688225.mp4"}
+{"uid":"8099146275269584349","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":"1832494701000487957.mp4"}
+{"uid":"1581582704031803346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep apple 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":"9307217531553845125.mp4"}
+{"uid":"7150586852213332571","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"2727896530251510210.mp4"}
+{"uid":"4255298318039649117","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: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: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:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e","video":"11981189593537923371.mp4"}
+{"uid":"10161487293227348001","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put watermelon on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put watermelon on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput watermelon on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 watermelon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table 9- put fruit on the table Q: immediate next step? \u003cPRED\u003eA: put watermelon on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put watermelon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table 9- put fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put watermelon on the table 2- put fruit on the table 3- done\n\u003c/PRED\u003e","video":"4998169826735112172.mp4"}
+{"uid":"10693613206520407127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12411180118678401635.mp4"}
+{"uid":"6424725341621935572","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"2629807081958221970.mp4"}
+{"uid":"5336550619290395824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13626385193394012197.mp4"}
+{"uid":"17564157977625893270","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"11264475471991200111.mp4"}
+{"uid":"5854404377278061588","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table 9- put fruit on the table 10- put watermelon on the table Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table 9- put fruit on the table 10- put watermelon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e","video":"426316168296399136.mp4"}
+{"uid":"2178702426149465297","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the 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\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done 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","video":"5871700543179348149.mp4"}
+{"uid":"18066028444955932334","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"11764431268531022584.mp4"}
+{"uid":"5598388586995397174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12067836808130237375.mp4"}
+{"uid":"17823050037875845483","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":"8715624412949127539.mp4"}
+{"uid":"4058723478192422483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate 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":"6254614235302066580.mp4"}
+{"uid":"7841191440490550401","text":"\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table 6- put banana on the table 7- put orange on the table 8- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit on the table 2- put watermelon on the table 3- put fruit on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e","video":"11526609102594018843.mp4"}
+{"uid":"3212109234129050941","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put pear on the table 3- put banana on the table 4- put orange on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"10585205438303526875.mp4"}
+{"uid":"18401243073577038428","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"10548396567259323177.mp4"}
+{"uid":"17773256441806858572","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":"10103952388751030242.mp4"}
+{"uid":"15181127393955248219","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray 4- Put the packet in the tray 5- Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chips 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- Put the packet in the tray 2- Put the packet in the tray 3- Put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the tray\n\u003c/PRED\u003e","video":"12964755834499434202.mp4"}
+{"uid":"4745768344036500608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17983043037267886000.mp4"}
+{"uid":"889108859204439988","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"12778877706761958210.mp4"}
+{"uid":"1008286014388636126","text":"\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: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9865032521348010446.mp4"}
+{"uid":"2948069981352409546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue 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":"10530391301461683175.mp4"}
+{"uid":"8564256715938182855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15932692964499968126.mp4"}
+{"uid":"8964930309425475401","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put orange on the table 3- put banana on the table 4- put fruit on the table 5- put watermelon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put orange on the table 3- put banana on the table 4- put banana on the table 5- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"9467070716478018732.mp4"}
+{"uid":"16040914039869480480","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":"16850103293674881796.mp4"}
+{"uid":"15006118175297888632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the container on 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":"13102844420675702486.mp4"}
+{"uid":"7584384256112955402","text":"\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: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:planning:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Put the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab all the pears in the top drawer and put them into the bowl on the table. Close drawer when you are done. last 20 steps: 1- Open the drawer 2- Put the pear in the bowl 3- Put the pear in the bowl 4- Put the pear in the bowl 5- Put the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the bowl 2- Close the drawer 3- done\n\u003c/PRED\u003e","video":"16965014113862419376.mp4"}
+{"uid":"835760437956369705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8154652764215538237.mp4"}
+{"uid":"623232766419707252","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place 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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"9458138106566598842.mp4"}
+{"uid":"3648019073244414664","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sponge on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray 4- put strainer on the tray 5- put sponge on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput sponge on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray 4- put strainer on the tray 5- put sponge on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6055321914682076707.mp4"}
+{"uid":"13191385192752788254","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":"15317316736497567868.mp4"}
+{"uid":"14955741323984233275","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance: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:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place 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":"1093727077811525109.mp4"}
+{"uid":"1195737208683901056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8234344481021389574.mp4"}
+{"uid":"10109634846118510451","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy Q: immediate next step? \u003cPRED\u003eA: put thermos on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put thermos on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput thermos 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\nput thermos 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: put thermos on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put thermos on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray 4- put strainer on the tray 5- put sponge on the table\n\u003c/PRED\u003e","video":"10512796356314270064.mp4"}
+{"uid":"10424673429445646861","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput  redbull can\n 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":"13859028585642484542.mp4"}
+{"uid":"18106269037713731647","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"4329243623059195625.mp4"}
+{"uid":"17535839136125801118","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":"1581461590052279106.mp4"}
+{"uid":"5567924430904107129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5972511105596663653.mp4"}
+{"uid":"3550382664235288553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3923872960014076101.mp4"}
+{"uid":"11711185770632197337","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place 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: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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e","video":"14058041228690168008.mp4"}
+{"uid":"11389385170975314021","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n 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\n on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n 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- place can on the table 2- place can on the table 3- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- place can on the table 3- place can on the table 4- place can on the table 5- done\n\u003c/PRED\u003e","video":"9148036418049930180.mp4"}
+{"uid":"12947104347680299225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9945174341952708526.mp4"}
+{"uid":"8817590928955631554","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- place can on the table 4- place can 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 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":"10549337822450806321.mp4"}
+{"uid":"465277120852978514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the grey duck in the small basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8529067033341418832.mp4"}
+{"uid":"10472838374077387830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom 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":"13756147380825447429.mp4"}
+{"uid":"2052011395004979529","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n 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\n on table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  redbull can\n 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: none Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n 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\n on table\n\u003c/PRED\u003e","video":"13986146207340909200.mp4"}
+{"uid":"5004748999790274254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11461016227035216533.mp4"}
+{"uid":"10502042720030393390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate in a 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":"3009665556669601142.mp4"}
+{"uid":"12471351964262154611","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"13389206362961914888.mp4"}
+{"uid":"2759709435098760470","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brush on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput brush 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":"18101453840806989760.mp4"}
+{"uid":"17964012768836192185","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n 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\n 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- place can on the table 2- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  redbull can\n 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":"7287681893580329158.mp4"}
+{"uid":"17471540517560839245","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":"4840349901273129239.mp4"}
+{"uid":"1241627772143960066","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n 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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- place can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e","video":"2108311456462827832.mp4"}
+{"uid":"8312011528094022037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put thermos on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput thermos 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":"17278430444350055305.mp4"}
+{"uid":"8616551743502761759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper bowl on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"501015353100974806.mp4"}
+{"uid":"2162823040364872632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the crushed paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14146126710931032455.mp4"}
+{"uid":"16194024672062909267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink candy 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":"15024529996856185368.mp4"}
+{"uid":"19139704092250054","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"12683856621177639913.mp4"}
+{"uid":"12277171136791109587","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"12203351883621816274.mp4"}
+{"uid":"16732182441304702111","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place 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: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":"919111771866151511.mp4"}
+{"uid":"9669428489748666641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white chocolate 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":"10151794538207806820.mp4"}
+{"uid":"2674505013134362538","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place 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- place can on the table 2- place can on the table 3- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14092861419651931406.mp4"}
+{"uid":"5243050689958353713","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":"3824667324348342491.mp4"}
+{"uid":"17320466491351536584","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n 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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n 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\n on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  redbull can\n 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\n on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n 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":"5824099847999515014.mp4"}
+{"uid":"17824083368124497934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black marker in the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15344494335107527979.mp4"}
+{"uid":"16927946056134587403","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"3260918307914284722.mp4"}
+{"uid":"2875275347023186310","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table 8- put  redbull can\n on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput  redbull can\n 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table 7- place can on the table 8- put  redbull can\n on table Q: immediate next step? \u003cPRED\u003eA: 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e","video":"2927134942336376497.mp4"}
+{"uid":"17707450005738962710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10374357916053232739.mp4"}
+{"uid":"16710443013289073555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4468028248991032359.mp4"}
+{"uid":"4380141683507995182","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask: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: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":"17701297509232518254.mp4"}
+{"uid":"4634838717824846768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14259644419854170370.mp4"}
+{"uid":"2333631505052417488","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"2463509075518739609.mp4"}
+{"uid":"5281514252627389397","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sponge brush on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put sponge brush on the tray 2- put brush on the tray 3- put strainer on the tray 4- put sponge on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sponge brush on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sponge brush 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\nput sponge brush 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray Q: immediate next step? \u003cPRED\u003eA: put sponge brush on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy Q: immediate next step? \u003cPRED\u003eA: put sponge brush on the tray\n\u003c/PRED\u003e","video":"12625428618791139978.mp4"}
+{"uid":"3545398817903265324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"7485750324158673857.mp4"}
+{"uid":"3600422304782550406","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n 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\n on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n 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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- place can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n 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":"15033438088318176168.mp4"}
+{"uid":"1904359743607882163","text":"\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- done\n\u003c/PRED\u003e","video":"2706671395299719542.mp4"}
+{"uid":"15564989806145665357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace light blue marker 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":"17356176952157495880.mp4"}
+{"uid":"2235954046401032911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17481817179508593249.mp4"}
+{"uid":"415068390144409175","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n 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- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  redbull can\n on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e","video":"17859292396469239803.mp4"}
+{"uid":"12408675795939017720","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"15667711989487148885.mp4"}
+{"uid":"4547041516268084209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the black pepper 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":"16616772832532971376.mp4"}
+{"uid":"5716094596634099932","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":"2042789848982048208.mp4"}
+{"uid":"1549750684735977511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tray on the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9288781763977571070.mp4"}
+{"uid":"13792092182413101381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack white bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10759717511364584944.mp4"}
+{"uid":"5181711962097012857","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"7492347673407497563.mp4"}
+{"uid":"973306986831063999","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put strainer on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput strainer 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put strainer on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput strainer 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: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put strainer on the tray 2- put sponge on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray Q: immediate next step? \u003cPRED\u003eA: put strainer on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy Q: immediate next step? \u003cPRED\u003eA: put strainer on the tray\n\u003c/PRED\u003e","video":"8586732768596971627.mp4"}
+{"uid":"13403014913111045951","text":"\u003ctask:success:discrete:False\u003e\nput sponge on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray 4- put strainer on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put sponge on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sponge on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy Q: immediate next step? \u003cPRED\u003eA: put sponge on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sponge on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray 3- put brush on the tray 4- put strainer on the tray Q: immediate next step? \u003cPRED\u003eA: put sponge on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sponge on the table\n\u003c/PRED\u003e","video":"240754823403614036.mp4"}
+{"uid":"1094872701490368998","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brush on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put brush on the tray 2- put strainer on the tray 3- put sponge on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy. last 20 steps: 1- put thermos on the tray 2- put sponge brush on the tray Q: immediate next step? \u003cPRED\u003eA: put brush on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brush 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\nput brush 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: put brush on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out the kitchen sink supplies from the caddy Q: immediate next step? \u003cPRED\u003eA: put brush on the tray\n\u003c/PRED\u003e","video":"2057367947165759224.mp4"}
+{"uid":"9927714563191397573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11942983108866869200.mp4"}
+{"uid":"8324341411974102266","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  redbull can\n 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\n on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  redbull can\n on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  redbull can\n 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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: immediate next step? \u003cPRED\u003eA: put  redbull can\n 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- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  redbull can\n on table 2- place can on the table 3- place can on the table 4- done\n\u003c/PRED\u003e","video":"17734525067026232908.mp4"}
+{"uid":"16878164165808011018","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place can on the table 3- place can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"9826233126526949777.mp4"}
+{"uid":"17156764536423310790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl 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":"12371569212959930850.mp4"}
+{"uid":"12776061621436762572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the middle 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":"369527037409558421.mp4"}
+{"uid":"3208618105835673694","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder 18- put the red pen into the pen holder 19- place the red pen into the pen holder 20- put the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder 18- put the red pen into the pen holder 19- place the red pen into the pen holder 20- put the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e","video":"15327502626381057489.mp4"}
+{"uid":"10047465434853161456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\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","video":"16546504527078828019.mp4"}
+{"uid":"17527029970930623783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab 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":"2267371654793872706.mp4"}
+{"uid":"7850420232820864529","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen into the pen holder 2- place the red pen into the pen holder 3- drop the red pen into the pen holder 4- put the red pen into the pen holder 5- place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e","video":"4533865065618397309.mp4"}
+{"uid":"17474269540131125702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the black box 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":"378552999953194473.mp4"}
+{"uid":"6396040958308808221","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder 18- put the red pen into the pen holder 19- place the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder 18- put the red pen into the pen holder 19- place the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- place the red pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9625764909162679465.mp4"}
+{"uid":"1508195133902309822","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- place the black pen into the pen holder 3- put the black pen into the pen holder 4- place the black pen into the pen holder 5- put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"691366154405440011.mp4"}
+{"uid":"15945743371411997583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl at the edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1146741573051908777.mp4"}
+{"uid":"11275957147207535898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow 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":"14180903838523753133.mp4"}
+{"uid":"10933693160882746236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite R on white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14127298113918681616.mp4"}
+{"uid":"15423419628823248074","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":"7455141046484428565.mp4"}
+{"uid":"17207400424966491701","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the rectangle symbol in baby pink box 3- Place the z symbol in baby pink box 4- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink 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:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them 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","video":"9108024874359179524.mp4"}
+{"uid":"18044246293157241731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9302394623464492095.mp4"}
+{"uid":"9635975074899826165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11920224238492380407.mp4"}
+{"uid":"14700119864362168560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the cap 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":"12893673959131123929.mp4"}
+{"uid":"14867295966575953278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper 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":"6740205837243912860.mp4"}
+{"uid":"13537112615168380058","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen into the pen holder 2- place the black pen into the pen holder 3- put the black pen into the pen holder 4- drop the black pen into the pen holder 5- place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12698865611075747594.mp4"}
+{"uid":"13745445069778641571","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red pen into the pen holder 2- place the black pen into the pen holder 3- put the red pen into the pen holder 4- place the red pen into the pen holder 5- put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e","video":"1369350344700600841.mp4"}
+{"uid":"7906253923558420192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1465332000000420019.mp4"}
+{"uid":"12499462441256463629","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":"7889974489702735624.mp4"}
+{"uid":"15387732618301838270","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 pick up the blocks and place them into 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the heart symbol in baby pink box 3- Place the triangle symbol in baby pink box 4- Place the rectangle symbol in baby pink box 5- Place the z symbol in baby pink 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: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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"9000869059120059364.mp4"}
+{"uid":"7003115799780374732","text":"\u003ctask:success:discrete:False\u003e\nPut the brown 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: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown block in the box 2- Place the pentagon symbol in baby pink box 3- Place the heart symbol in baby pink box 4- Place the triangle symbol in baby pink box 5- Place the rectangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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":"4819548681834705590.mp4"}
+{"uid":"5670292113436719091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10140328273264100286.mp4"}
+{"uid":"16243987102555374139","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box 10- Place the rectangle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- 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:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box 10- Place the rectangle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"17857011946573907838.mp4"}
+{"uid":"7204616511932202933","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the brown block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown block in the box 2- Place the rectangle symbol in baby pink box 3- Place the z symbol in baby pink box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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":"18015604387206111469.mp4"}
+{"uid":"16965542051907243481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7708746294247331996.mp4"}
+{"uid":"6045146825190313822","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black pen into the pen holder 2- place the red pen into the pen holder 3- drop the red pen into the pen holder 4- place the black pen into the pen holder 5- put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black pen into the pen holder\n\u003c/PRED\u003e","video":"13119882674802245267.mp4"}
+{"uid":"9454393588505962274","text":"\u003ctask:success:discrete:False\u003e\nPlace the square symbol in baby pink box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the square symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the square symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the square symbol in baby pink box 2- Place the hexagon symbol in baby pink box 3- Place the circle symbol in baby pink box 4- Place the pentagon symbol in baby pink box 5- Place the heart symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the square symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the square symbol in baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the square symbol in baby pink box\n\u003c/PRED\u003e","video":"4303553266630080519.mp4"}
+{"uid":"584349741356641439","text":"\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- drop the black pen into the pen holder 3- place the red pen into the pen holder 4- drop the red pen into the pen holder 5- place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"5870684263258880561.mp4"}
+{"uid":"1997551267911971961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5510681267083764468.mp4"}
+{"uid":"5697339217264055017","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":"3750400554885861047.mp4"}
+{"uid":"8129862688254013733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11474176244947936296.mp4"}
+{"uid":"16687120659136757945","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- place the black pen into the pen holder 3- put the black pen into the pen holder 4- place the red pen into the pen holder 5- place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16156835854252999531.mp4"}
+{"uid":"10472398016335525763","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen into the pen holder 2- drop the red pen into the pen holder 3- put the red pen into the pen holder 4- place the black pen into the pen holder 5- put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e","video":"502021526166000893.mp4"}
+{"uid":"6342639565092793544","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the start symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the start symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the start symbol in baby pink box 2- Place the square symbol in baby pink box 3- Place the hexagon symbol in baby pink box 4- Place the circle symbol in baby pink box 5- Place the pentagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table Q: immediate next step? \u003cPRED\u003eA: Place the start symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the start symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the start symbol in baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the start symbol in baby pink 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":"18117415339020429862.mp4"}
+{"uid":"9491137095291670102","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen into the pen holder 2- place the red pen into the pen holder 3- place the red pen into the pen holder 4- drop the red pen into the pen holder 5- put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11031278730512631278.mp4"}
+{"uid":"14763407234465464123","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red pen into the pen holder 2- put the red pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- drop the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red pen into the pen holder\n\u003c/PRED\u003e","video":"2152688452190542686.mp4"}
+{"uid":"2722930923458553016","text":"\u003ctask:success:discrete:True\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"600601813577362335.mp4"}
+{"uid":"8542602852525197509","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: none 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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"17252030669217499340.mp4"}
+{"uid":"5835006115490779703","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the z symbol in baby pink box 3- done\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink 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":"3055836026740859564.mp4"}
+{"uid":"3286131297864389530","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the square symbol in baby pink box 3- Place the hexagon symbol in baby pink box 4- Place the circle symbol in baby pink box 5- Place the pentagon symbol in baby pink 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:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them 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","video":"12769744244132160968.mp4"}
+{"uid":"17269757884983915562","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the triangle symbol in baby pink 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 triangle symbol in baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the triangle symbol in baby pink box 2- Place the rectangle symbol in baby pink box 3- Place the z symbol in baby pink box 4- done\n\u003c/PRED\u003e","video":"2279607081500600257.mp4"}
+{"uid":"10132854418487798920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nFold the right corner of the t-shirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9176752619840296691.mp4"}
+{"uid":"1981966968856088009","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":"4522137917955441519.mp4"}
+{"uid":"8320450612401403551","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":"17545575683093003285.mp4"}
+{"uid":"10677977727451962915","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pentagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pentagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pentagon symbol in baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pentagon symbol in baby pink box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pentagon symbol in baby pink box 2- Place the heart symbol in baby pink box 3- Place the triangle symbol in baby pink box 4- Place the rectangle symbol in baby pink box 5- Place the z symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the pentagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the pentagon symbol in baby pink box\n\u003c/PRED\u003e","video":"14799305821892580020.mp4"}
+{"uid":"9856742932844646814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  tea box 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":"5028366234218113341.mp4"}
+{"uid":"9400694304737241757","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Move the baby pink box to the center of the table 2- Place the start symbol in baby pink box 3- Place the square symbol in baby pink box 4- Place the hexagon symbol in baby pink box 5- Place the circle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box Q: immediate next step? \u003cPRED\u003eA: Move the baby pink box to the center of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Move the baby pink box to the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the baby pink box to the center of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the baby pink box to the center of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the baby pink box to the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the baby pink box to the center of the table\n\u003c/PRED\u003e","video":"416489784294182578.mp4"}
+{"uid":"17170485198903613163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the z symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the z symbol in baby pink 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 z symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box 10- Place the rectangle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the z symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box 10- Place the rectangle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the z symbol in baby pink box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the z symbol in baby pink 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 z symbol in baby pink box\n\u003c/PRED\u003e","video":"2440311446152487715.mp4"}
+{"uid":"18234234865379351127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1083317156447058898.mp4"}
+{"uid":"6315315188417916632","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red block in the box 2- Place the square symbol in baby pink box 3- Place the hexagon symbol in baby pink box 4- Place the circle symbol in baby pink box 5- Place the pentagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red 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: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the red block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table Q: immediate next step? \u003cPRED\u003eA: Put the red block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red block in the box\n\u003c/PRED\u003e","video":"12654033905683271232.mp4"}
+{"uid":"14492996259355158839","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: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: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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the triangle symbol in baby pink box 3- Place the rectangle symbol in baby pink box 4- Place the z symbol in baby pink box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"9684855306588876844.mp4"}
+{"uid":"12981103657758046775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow 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","video":"4631873631966239890.mp4"}
+{"uid":"10887008274287588156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand 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":"12721072851066826671.mp4"}
+{"uid":"12345669394695292628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8781574803432578276.mp4"}
+{"uid":"9284167335108620762","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen into the pen holder 2- place the red pen into the pen holder 3- place the red pen into the pen holder 4- place the red pen into the pen holder 5- drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e","video":"14297262828137249060.mp4"}
+{"uid":"7334989031525181486","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange 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\nPut the orange 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange block in the box 2- Place the hexagon symbol in baby pink box 3- Place the circle symbol in baby pink box 4- Place the pentagon symbol in baby pink box 5- Place the heart symbol in baby pink box\n\u003c/PRED\u003e","video":"8771008830983348184.mp4"}
+{"uid":"9487665361326189682","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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the hexagon symbol in baby pink box 3- Place the circle symbol in baby pink box 4- Place the pentagon symbol in baby pink box 5- Place the heart symbol in baby pink 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 pick up the blocks and place them 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"2925340033916856347.mp4"}
+{"uid":"6722630675701571358","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the rectangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the rectangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the rectangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the rectangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the rectangle symbol in baby pink box 2- Place the z symbol in baby pink box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the rectangle symbol in baby pink 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 rectangle symbol in baby pink 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":"9980727066949127321.mp4"}
+{"uid":"10036843021263084113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the billiard triangle rack on the edge of the snookers board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5435163213420602096.mp4"}
+{"uid":"7880479034815409134","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the red pen into the pen holder 4- place the red pen into the pen holder 5- place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1496540309075547021.mp4"}
+{"uid":"4664161517427987901","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the hexagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the hexagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hexagon symbol in baby pink 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 hexagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hexagon symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hexagon symbol in baby pink box 2- Place the circle symbol in baby pink box 3- Place the pentagon symbol in baby pink box 4- Place the heart symbol in baby pink box 5- Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hexagon symbol in baby pink 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":"2467520389371122441.mp4"}
+{"uid":"10984113724933714668","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue block in the box 2- Place the heart symbol in baby pink box 3- Place the triangle symbol in baby pink box 4- Place the rectangle symbol in baby pink box 5- Place the z symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue 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":"2059349368085484124.mp4"}
+{"uid":"491134762357059299","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":"4059456283895229888.mp4"}
+{"uid":"1314528928106188276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room with 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":"15805204830113193493.mp4"}
+{"uid":"7957278458761614965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11725074624745351375.mp4"}
+{"uid":"11646601030058066874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the lid of glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12154601553645547469.mp4"}
+{"uid":"3458067495947315529","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":"8158485033176405172.mp4"}
+{"uid":"15725014437313871021","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue 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\nPut the blue 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue block in the box 2- Place the circle symbol in baby pink box 3- Place the pentagon symbol in baby pink box 4- Place the heart symbol in baby pink box 5- Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue block in the box\n\u003c/PRED\u003e","video":"1494989361788512315.mp4"}
+{"uid":"2725654920728262855","text":"\u003ctask:success:discrete:False\u003e\nPlace the yellow object in the baby pink 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 yellow object in the baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the yellow object in the baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow object in the baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the yellow object in the baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow object in the baby pink box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow object in the baby pink box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box\n\u003c/PRED\u003e","video":"12542765453558024440.mp4"}
+{"uid":"6298633867099652312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14392764637365487481.mp4"}
+{"uid":"13457832151079388105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the bottle into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12220435808874880760.mp4"}
+{"uid":"84238976537242151","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the triangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the triangle symbol in baby pink 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":"13659219979727839032.mp4"}
+{"uid":"10915525810754499055","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":"1261993363256916112.mp4"}
+{"uid":"11297248730331446447","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the black block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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 the black block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box 10- Place the rectangle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the black block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box 10- Place the rectangle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black block in the box 2- done\n\u003c/PRED\u003e","video":"9782745665180675924.mp4"}
+{"uid":"9941093751626927274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the indoor plant to the left 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":"8281500693833604111.mp4"}
+{"uid":"18052332782283014078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"9711153574242146267.mp4"}
+{"uid":"4513464719320138721","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the pentagon symbol in baby pink box 3- Place the heart symbol in baby pink box 4- Place the triangle symbol in baby pink box 5- Place the rectangle symbol in baby pink 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"18051081955462547027.mp4"}
+{"uid":"6675202368320105643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7956344827357425486.mp4"}
+{"uid":"5389785069283498087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the book to the edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11720877986302802485.mp4"}
+{"uid":"16428543914295442807","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen holder 2- put the red pen into the pen holder 3- place the red pen into the pen holder 4- put the black pen into the pen holder 5- place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange fruit into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e","video":"14627206611340283943.mp4"}
+{"uid":"4223863703444789302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1475049691893304696.mp4"}
+{"uid":"9648939477634504995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13958083793512183844.mp4"}
+{"uid":"1414397643337956259","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":"10304262640083805297.mp4"}
+{"uid":"14605681980448233883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange cable from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14273792389822557259.mp4"}
+{"uid":"16266586080204521432","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange block in the box 2- Place the z symbol in baby pink box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange 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\nPut the orange 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 pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box 8- Place the heart symbol in baby pink box 9- Place the triangle symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e","video":"4299183134570022024.mp4"}
+{"uid":"4975951972710527934","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e","video":"5129603689912198566.mp4"}
+{"uid":"1040117823812749492","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the circle symbol in baby pink box 2- Place the pentagon symbol in baby pink box 3- Place the heart symbol in baby pink box 4- Place the triangle symbol in baby pink box 5- Place the rectangle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the circle symbol in baby pink 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 circle symbol in baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the circle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the circle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the circle symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the circle symbol in baby pink box\n\u003c/PRED\u003e","video":"15459300412432256653.mp4"}
+{"uid":"12540211811831781867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17883366736319107165.mp4"}
+{"uid":"3314577518310353055","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1055113749304048354.mp4"}
+{"uid":"12508638330450250629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10928732728456993549.mp4"}
+{"uid":"16186506695331999260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2880795123609777020.mp4"}
+{"uid":"3897685323829865939","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen into the pen holder 2- drop the red pen into the pen holder 3- place the black pen into the pen holder 4- put the red pen into the pen holder 5- place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5053045710423287486.mp4"}
+{"uid":"12712131469726256086","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- drop the black pen into the pen holder 4- place the red pen into the pen holder 5- drop the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14652073144860864097.mp4"}
+{"uid":"7026575341079901994","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 pick up the blocks and place them 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- Place the circle symbol in baby pink box 3- Place the pentagon symbol in baby pink box 4- Place the heart symbol in baby pink box 5- Place the triangle symbol in baby pink 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink 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":"17670426985081077250.mp4"}
+{"uid":"9282063900619974120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15662626485450677214.mp4"}
+{"uid":"1255267561658039587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18149507705016571158.mp4"}
+{"uid":"16355505232924362185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"5195688513063700045.mp4"}
+{"uid":"1124904421704243997","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen into the pen holder 2- place the red pen into the pen holder 3- put the black pen into the pen holder 4- place the red pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: put the red pen into the pen holder\n\u003c/PRED\u003e","video":"8204438145591525751.mp4"}
+{"uid":"11431160664029359742","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow 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 the yellow block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow 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 pick up the blocks and place them into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the yellow block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the yellow block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box\n\u003c/PRED\u003e","video":"8758763056367413036.mp4"}
+{"uid":"428918125508360892","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange block in the box 2- Place the triangle symbol in baby pink box 3- Place the rectangle symbol in baby pink box 4- Place the z symbol in baby pink box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange 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: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Put the orange block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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":"9117295651455406533.mp4"}
+{"uid":"4378194025169497928","text":"\u003ctask:success:discrete:True\u003e\nPlace the yellow object in the baby pink 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 yellow object in the baby pink box\n\u003c/PRED\u003e","video":"11289328462255604305.mp4"}
+{"uid":"18376769822334359414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10266041287017328423.mp4"}
+{"uid":"13975712279685697698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black marker on the white board slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2401454275201983560.mp4"}
+{"uid":"17321070924852827535","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder 18- put the red pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pen into the pen holder 2- put the black pen into the pen holder 3- place the red pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. last 20 steps: 1- place the black pen into the pen holder 2- put the black pen into the pen holder 3- place the black pen into the pen holder 4- put the black pen into the pen holder 5- place the black pen into the pen holder 6- put the black pen into the pen holder 7- place the red pen into the pen holder 8- place the red pen into the pen holder 9- place the red pen into the pen holder 10- drop the red pen into the pen holder 11- put the red pen into the pen holder 12- place the black pen into the pen holder 13- put the black pen into the pen holder 14- drop the black pen into the pen holder 15- place the red pen into the pen holder 16- drop the red pen into the pen holder 17- place the black pen into the pen holder 18- put the red pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the black and red pens into the pen holder. Q: immediate next step? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pen into the pen holder\n\u003c/PRED\u003e","video":"15878090797183341309.mp4"}
+{"uid":"16939871400376070844","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":"11113574579403621604.mp4"}
+{"uid":"10997581471217267390","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box Q: immediate next step? \u003cPRED\u003eA: Place the heart symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box Q: immediate next step? \u003cPRED\u003eA: Place the heart symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the heart symbol in baby pink 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 heart symbol in baby pink box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the heart symbol in baby pink box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the blocks and place them into the box. last 20 steps: 1- Put the yellow block in the box 2- Move the baby pink box to the center of the table 3- Place the start symbol in baby pink box 4- Place the square symbol in baby pink box 5- Place the hexagon symbol in baby pink box 6- Place the circle symbol in baby pink box 7- Place the pentagon symbol in baby pink box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the heart symbol in baby pink box 2- Place the triangle symbol in baby pink box 3- Place the rectangle symbol in baby pink box 4- Place the z symbol in baby pink box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the heart symbol in baby pink box\n\u003c/PRED\u003e","video":"3245210895437409187.mp4"}
+{"uid":"16194463443599090408","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: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue 4- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue 4- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9343687611719836057.mp4"}
+{"uid":"14555064878426537271","text":"\u003ctask:success:discrete:True\u003e\nplace 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon on tissue\n\u003c/PRED\u003e","video":"12171099668215543286.mp4"}
+{"uid":"6817133222526696998","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue 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- put the packet in the white paper cup Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\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- put the packet in the white paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- place the spoon on tissue 3- place the orange fruit on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14610291016171077006.mp4"}
+{"uid":"16549812459822621618","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange fruit 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue Q: immediate next step? \u003cPRED\u003eA: place the orange fruit on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange fruit 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange fruit on table 2- 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 orange fruit on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange fruit on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange fruit 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":"11071393540329196405.mp4"}
+{"uid":"8442035085650156554","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: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- put the packet in the white paper cup 2- place the tissue on table Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the tissue\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- put the packet in the white paper cup 2- place the tissue on table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the tissue 2- place the orange fruit on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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":"16618041768364158088.mp4"}
+{"uid":"3977437892242807866","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e","video":"10524842678339478260.mp4"}
+{"uid":"9582797202292515894","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- put the packet in the white paper cup 2- place the tissue on table Q: immediate next step? \u003cPRED\u003eA: place the spoon on tissue\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- put the packet in the white paper cup 2- place the tissue on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on tissue 2- place the orange fruit on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon on tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon on tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"12950808980449185676.mp4"}
+{"uid":"8020390064331051559","text":"\u003ctask:success:discrete:True\u003e\nput papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e","video":"13120246245356307835.mp4"}
+{"uid":"4648099099195767645","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: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- put the packet in the white paper cup Q: immediate next step? \u003cPRED\u003eA: place the tissue on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue 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: place 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- put the packet in the white paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on table 2- place the spoon on tissue 3- place the orange fruit on table 4- done\n\u003c/PRED\u003e","video":"8178469899376305229.mp4"}
+{"uid":"8796970121392746590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift a blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14999067492850047185.mp4"}
+{"uid":"11117709855815923434","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon on the papers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon on the papers\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon on the papers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon on the papers\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- put the packet in the white paper cup 2- place the tissue on table Q: immediate next step? \u003cPRED\u003eA: place the spoon on the papers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on the papers\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- put the packet in the white paper cup 2- place the tissue on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on the papers 2- done\n\u003c/PRED\u003e","video":"1930138731761960575.mp4"}
+{"uid":"16347604248506556974","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the white paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the white paper cup\n\u003c/PRED\u003e","video":"18231208436331923930.mp4"}
+{"uid":"14293106604153540096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the pistas 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":"2437909314593326921.mp4"}
+{"uid":"13197485599053972254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10494025501390792818.mp4"}
+{"uid":"15853218162521577226","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the white paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the white paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the white paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the white paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the white paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue 4- place the orange fruit 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: put the packet in the white paper cup\n\u003c/PRED\u003e","video":"7173203483086900893.mp4"}
+{"uid":"68337930064656672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12450742061130425351.mp4"}
+{"uid":"4728799234252142162","text":"\u003ctask:success:discrete:True\u003e\nplace 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue on table\n\u003c/PRED\u003e","video":"3279171031934465543.mp4"}
+{"uid":"14175314894103417943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the red bull can out of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4179404040759938363.mp4"}
+{"uid":"2442295190967557115","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put oatmeal pack 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- put oatmeal pack in the cup 2- place the spoon on tissue 3- place the orange fruit on table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput oatmeal pack in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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 oatmeal pack in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput oatmeal pack 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: 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 oatmeal pack in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put oatmeal pack in the cup\n\u003c/PRED\u003e","video":"17286878296031775020.mp4"}
+{"uid":"14549817498884321036","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15189984652724361484.mp4"}
+{"uid":"15760409193577939641","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 orange 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13704772083753721197.mp4"}
+{"uid":"18008048845096951583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8830099995285448605.mp4"}
+{"uid":"9440518060747284017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"6305362527010275341.mp4"}
+{"uid":"12859834111322523474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the trolley 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":"12178036111947192209.mp4"}
+{"uid":"652531915432195873","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":"762024902532175306.mp4"}
+{"uid":"15661238095727312545","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 packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: 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 packet into bowl 2- place the tissue on table 3- place the spoon on tissue 4- place the orange fruit on table 5- done\n\u003c/PRED\u003e","video":"7720067233879559568.mp4"}
+{"uid":"12484446289769048295","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: 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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on the papers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon on the papers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on the papers Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon on the papers\n\u003c/PRED\u003e","video":"10322826376504678525.mp4"}
+{"uid":"13547261056574879618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4220103380985918694.mp4"}
+{"uid":"5519278109950266223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull up the top side of the track pants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15114769772230845400.mp4"}
+{"uid":"14616380009536571713","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6625804904851099345.mp4"}
+{"uid":"7084275619854285113","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2743192522061222126.mp4"}
+{"uid":"5832507286835669378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11765285001462592289.mp4"}
+{"uid":"11163158625512729066","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- put the packet in the white paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put papers on the table 2- place the spoon on tissue 3- place the orange fruit 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- put the packet in the white paper cup Q: immediate next step? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put papers on the table\n\u003c/PRED\u003e","video":"2981118415295054401.mp4"}
+{"uid":"11396904226324813936","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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue 4- place the orange fruit 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: place the orange fruit on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange fruit 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: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- put the packet in the white paper cup 2- place the tissue on table 3- place the spoon on tissue 4- place the orange fruit on 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","video":"675553445748520251.mp4"}