diff --git "a/json/train/data-00025-of-00160.json" "b/json/train/data-00025-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00025-of-00160.json"
@@ -0,0 +1,1551 @@
+{"uid":"17015285550253739057","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12549048008386103693.mp4"}
+{"uid":"4576446486634567982","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cups on the table 2- Pickup the pink cup 3- place the pink cup on the table 4- place the pink cup on the table 5- Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the green cups 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 cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: Place the green cups on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13987718957741242225.mp4"}
+{"uid":"9193713916457519598","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table 9- Close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table 9- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13542558818722000675.mp4"}
+{"uid":"3976120414080605786","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table\n\u003c/PRED\u003e","video":"2519545367068939887.mp4"}
+{"uid":"3779008286050502823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table with the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12995089473149689075.mp4"}
+{"uid":"13886843112863751271","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\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: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"5262258362860973461.mp4"}
+{"uid":"8615026066940279565","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9275837865647641401.mp4"}
+{"uid":"2566395391857293115","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table 9- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table 9- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask: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":"11069973428171242440.mp4"}
+{"uid":"13379098317678744217","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green cup on the table 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e","video":"16339926666969319388.mp4"}
+{"uid":"10067226191380056346","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e","video":"9059022639086290878.mp4"}
+{"uid":"13947648037394488299","text":"\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"10879904497019599293.mp4"}
+{"uid":"13920178814668964348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"8497544411299672368.mp4"}
+{"uid":"15875183095342227002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10894910673277654599.mp4"}
+{"uid":"131344276991538717","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pink cup on the table 2- place the pink cup on the table 3- Pickup the yellow cup 4- Place the yellow cup on the table 5- place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup Q: immediate next step? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e","video":"527874505773180607.mp4"}
+{"uid":"13505717966643988625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the potted plant at the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14809996414480344074.mp4"}
+{"uid":"13716459479909589463","text":"\u003ctask:success:discrete:True\u003e\nput 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: put the green cup on the table\n\u003c/PRED\u003e","video":"3370919786908265476.mp4"}
+{"uid":"11784765110117059904","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":"9403060239214385958.mp4"}
+{"uid":"18041678798652822929","text":"\u003ctask:success:discrete:True\u003e\nput green cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green cups on the table\n\u003c/PRED\u003e","video":"15130251693127486562.mp4"}
+{"uid":"6345745352153124991","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pink cup on the table 2- Pickup the yellow cup 3- Place the yellow cup on the table 4- place the yellow cup on the table 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink 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","video":"8265035865097101297.mp4"}
+{"uid":"10457556633999031229","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the pink cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the pink 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: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: immediate next step? \u003cPRED\u003eA: Pickup the pink cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the pink cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Pickup the pink cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the pink cup 2- place the pink cup on the table 3- place the pink cup on the table 4- Pickup the yellow cup 5- Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the pink 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":"13179266010433213323.mp4"}
+{"uid":"9139507911138268644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pink cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7585363290807900522.mp4"}
+{"uid":"7844867267750108618","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":"5240954703287082330.mp4"}
+{"uid":"14891090082881793100","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table 9- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table 9- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15733823446959219143.mp4"}
+{"uid":"8179264103953735833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table 8- place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"6566911700225681465.mp4"}
+{"uid":"1547989006255397745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11068754366614152434.mp4"}
+{"uid":"1607398103100331787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"7495445134413585530.mp4"}
+{"uid":"10001058913747386256","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cups on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cups 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":"14826807308869134309.mp4"}
+{"uid":"16625294725483437438","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the yellow cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5324689481653751086.mp4"}
+{"uid":"3872774397394544858","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink 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:success:discrete:False\u003e\nplace the pink cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink cup on the table 2- place the pink cup on the table 3- Pickup the yellow cup 4- Place the yellow cup on the table 5- place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup Q: immediate next step? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e","video":"9754618041973720068.mp4"}
+{"uid":"8283878137885773717","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink cup on the table 2- Pickup the yellow cup 3- Place the yellow cup on the table 4- place the yellow cup on the table 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink 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 pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15737426274144372039.mp4"}
+{"uid":"2953291852526541364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the brush from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9644704748573387167.mp4"}
+{"uid":"2340379284273045814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14066543065376339232.mp4"}
+{"uid":"1555584404184347048","text":"\u003ctask:success:discrete:False\u003e\nplace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow cup on the table 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: place the yellow cup on the table\n\u003c/PRED\u003e","video":"13297309167745545656.mp4"}
+{"uid":"8704785878263778336","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":"6373041760776451580.mp4"}
+{"uid":"5985313013999606823","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the pink cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the pink cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12577460206918602295.mp4"}
+{"uid":"18283726177431572255","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup 7- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"14961721732865225011.mp4"}
+{"uid":"2696606330960700048","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- Pickup the yellow cup 3- Place the yellow cup on the table 4- place the yellow cup on the table 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"6352772292237050740.mp4"}
+{"uid":"9886419805068011961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a cheese stick in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9086778980041732991.mp4"}
+{"uid":"7350637606865939753","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- place the yellow cup on the table 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"1428227877031049880.mp4"}
+{"uid":"9369290213165610419","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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\npick up cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cup 2- Place the yellow cup on the table 3- place the yellow cup on the table 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e","video":"4748573740662477747.mp4"}
+{"uid":"3480139573862780913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table with the wiper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13800559251174341542.mp4"}
+{"uid":"5532377569868388234","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4682976678745534507.mp4"}
+{"uid":"7506017317186971180","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pink cup on the table 2- place the pink cup on the table 3- place the pink cup on the table 4- Pickup the yellow cup 5- Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: immediate next step? \u003cPRED\u003eA: put pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink 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","video":"4172924794880927764.mp4"}
+{"uid":"7474122225853727606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the green bag 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":"6081800982988320679.mp4"}
+{"uid":"11562358199235598080","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the yellow 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: Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the yellow cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the yellow cup 2- Place the yellow cup on the table 3- place the yellow cup on the table 4- Close the drawer 5- done\n\u003c/PRED\u003e","video":"15667391533654776503.mp4"}
+{"uid":"16329496707819696572","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put cups on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cups on table 2- Pickup the pink cup 3- place the pink cup on the table 4- place the pink cup on the table 5- Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cups 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 cups on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: put cups on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups on table\n\u003c/PRED\u003e","video":"14400760209077500556.mp4"}
+{"uid":"12901168957050613552","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7167378149461878932.mp4"}
+{"uid":"15255995259764659748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"559162855038384361.mp4"}
+{"uid":"2006397688163938046","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"3774317910155335669.mp4"}
+{"uid":"4049170054032282234","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":"15394834117981112794.mp4"}
+{"uid":"814622389763225395","text":"\u003ctask:success:discrete:True\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e","video":"9615023493196768277.mp4"}
+{"uid":"7308402671900227463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the pencil tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12598041651155051360.mp4"}
+{"uid":"12537226538210400954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput Chocolate nuts 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":"4668056877305637651.mp4"}
+{"uid":"958648956069512168","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1781597231211019241.mp4"}
+{"uid":"10876756084557728247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tissues 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":"2685742146904221855.mp4"}
+{"uid":"496395103749772848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7481777610207542476.mp4"}
+{"uid":"9071131125292160449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10172911770977457510.mp4"}
+{"uid":"6508925054121798072","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1180635366711410101.mp4"}
+{"uid":"16074440966065449651","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green cups on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green cups on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put green cups on the table 2- Pickup the pink cup 3- place the pink cup on the table 4- place the pink cup on the table 5- Pickup the yellow cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: put green cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put green cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15940432945559302125.mp4"}
+{"uid":"8603388566299778612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput oatmeal packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1968061993532398618.mp4"}
+{"uid":"4535072631230959058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the white bowl from 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":"17706443376177718390.mp4"}
+{"uid":"17284988682764218996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"5347773882952896089.mp4"}
+{"uid":"4941059163093647103","text":"\u003ctask:success:discrete:True\u003e\nopen 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 drawer\n\u003c/PRED\u003e","video":"12021480572422786636.mp4"}
+{"uid":"626574896967430514","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green cup 2- Place the yellow cup on the table 3- place the yellow cup on the table 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: pick up the green cup\n\u003c/PRED\u003e","video":"3157273732597296261.mp4"}
+{"uid":"9168644226952863890","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"61083312573403782.mp4"}
+{"uid":"7433709543552372413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to 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":"14304961151053433624.mp4"}
+{"uid":"14760409604454440886","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"6081099633559053199.mp4"}
+{"uid":"420077594501148114","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- place the pink cup on the table 3- Pickup the yellow cup 4- Place the yellow cup on the table 5- place the yellow cup on the table\n\u003c/PRED\u003e","video":"9575481409167806410.mp4"}
+{"uid":"17774411789203705614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange peel in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14736160553307692683.mp4"}
+{"uid":"1214910954008627376","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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: pick up cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cup 2- place the pink cup on the table 3- place the pink cup on the table 4- Pickup the yellow cup 5- Place the yellow cup on the table\n\u003c/PRED\u003e","video":"9907148427628808291.mp4"}
+{"uid":"4216838320689763773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet from floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6559270770897014696.mp4"}
+{"uid":"2237996537837697823","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow 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:success:discrete:False\u003e\nPlace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow cup on the table 2- place the yellow cup on the table 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table 6- Pickup the yellow cup Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e","video":"16995014554714940847.mp4"}
+{"uid":"14892751099455070638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the cube into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"342794535130314201.mp4"}
+{"uid":"676617703650505856","text":"\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green cup on the table 2- place the yellow cup on the table 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: retrieve the six colored cups from the top right drawer. last 20 steps: 1- open drawer 2- put green cups on the table 3- Pickup the pink cup 4- place the pink cup on the table 5- place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: put the green cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"9351740843218744567.mp4"}
+{"uid":"2730680424299960213","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- place the orange on the table 3- place the orange on the table 4- place the orange on the table 5- place the cherries on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"2718469858280553480.mp4"}
+{"uid":"1736822859838266706","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":"982851008276159050.mp4"}
+{"uid":"8730390623320057478","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the orange on the table 3- place the apple on the table 4- place the green apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"2256556247128937432.mp4"}
+{"uid":"3829033628694406016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15703791984801535677.mp4"}
+{"uid":"15634151416984374018","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen on the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7795118771350512863.mp4"}
+{"uid":"10098252186881057570","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"9298099472401658623.mp4"}
+{"uid":"10022945890630334855","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- put a green cup in the drawer 4- done\n\u003c/PRED\u003e","video":"10751787822273238901.mp4"}
+{"uid":"9652792060666158233","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the cherries on the table 4- place the cherries on the table 5- place the cherries on the table\n\u003c/PRED\u003e","video":"2765641388803590918.mp4"}
+{"uid":"11358804021092956130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16276122609548611251.mp4"}
+{"uid":"3237537427380219305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 1 pistachio in 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":"724810581046433880.mp4"}
+{"uid":"17233281952688743954","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pink cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17475148960449116264.mp4"}
+{"uid":"11668063121469825566","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the tissue on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12711588620817715999.mp4"}
+{"uid":"4664510373839517109","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a blue cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue cup in the drawer 2- drop the coffee cup into drawer 3- put a green cup in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e","video":"8446165631944165411.mp4"}
+{"uid":"16039008760265128022","text":"\u003ctask:success:discrete:True\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e","video":"11242686655200927205.mp4"}
+{"uid":"2579491888267306095","text":"\u003ctask:success:discrete:False\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cup into drawer 2- put a green cup in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e","video":"18376168875302987984.mp4"}
+{"uid":"3278237240033016456","text":"\u003ctask:success:discrete:True\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 grapes on the table\n\u003c/PRED\u003e","video":"16296571387911844310.mp4"}
+{"uid":"7439641009163558173","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table 5- Wipe water from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16213595574212288322.mp4"}
+{"uid":"18320977922130741478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue papers 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":"6267879672133064542.mp4"}
+{"uid":"10619595989922247779","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cup into drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12717827260421261064.mp4"}
+{"uid":"114586377609996913","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the tissue on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter Q: immediate next step? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the tissue on the counter 2- Put the tissue on the table 3- Wipe water from the table 4- Put the tissues in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e","video":"2150285200258469880.mp4"}
+{"uid":"1643729729378394808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12515754062010573227.mp4"}
+{"uid":"9061355635314197183","text":"\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the apple on the table 3- place the green apple on the table 4- place the apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12002338705286596123.mp4"}
+{"uid":"8468490780848053471","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer 6- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer 6- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16245724837485191265.mp4"}
+{"uid":"818795203225741208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a blue cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2108046567900130780.mp4"}
+{"uid":"18042182167132723027","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- arrange the grapes 3- place the apple on the table 4- place the orange on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1882261869891239122.mp4"}
+{"uid":"17346639393264185079","text":"\u003ctask:success:discrete:True\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e","video":"11599848036599020047.mp4"}
+{"uid":"13587678054045427643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8339351403179683225.mp4"}
+{"uid":"9462513925985823921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2275725927404107685.mp4"}
+{"uid":"12677923001688837228","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- put a green cup in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e","video":"2180924814276682952.mp4"}
+{"uid":"11479334178535835847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7672768251278795689.mp4"}
+{"uid":"2062699683767824156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue cup in the tray 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- put a green cup in the drawer\n\u003c/PRED\u003e","video":"9448029092931806180.mp4"}
+{"uid":"2821828522921206125","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the tissue on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter Q: immediate next step? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the tissue on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the tissue on the counter 2- Stack the tissue on the counter 3- Put the tissue on the table 4- Wipe water from the table 5- Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the tissue on the counter\n\u003c/PRED\u003e","video":"9284490709311351254.mp4"}
+{"uid":"13859912075934374494","text":"\u003ctask:success:discrete:True\u003e\nplace the cherries on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cherries on the table\n\u003c/PRED\u003e","video":"15669596365584972579.mp4"}
+{"uid":"5673151065618370237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar 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":"1436925449946849487.mp4"}
+{"uid":"7570396453198589936","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":"17751486819811505161.mp4"}
+{"uid":"4586864895349458099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2380819790762616232.mp4"}
+{"uid":"14933459943685361765","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissues in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table 5- Wipe water from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissues in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table 5- Wipe water from the table Q: immediate next step? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissues in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16880250440036376032.mp4"}
+{"uid":"11111440973074994097","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":"3118598665601623159.mp4"}
+{"uid":"12418950115426534896","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a pink cup in the drawer 2- put a green cup in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pink cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pink cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e","video":"11981147386010887971.mp4"}
+{"uid":"18041798020291437725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8012723317425320660.mp4"}
+{"uid":"2359400577138027774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolates 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":"4178512061822225572.mp4"}
+{"uid":"2221177608906996560","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the cherries on the table 3- place the cherries on the table 4- place the cherries on the table 5- place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"9305970318399198243.mp4"}
+{"uid":"12252585097623253226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18147202110986430551.mp4"}
+{"uid":"14276651445879547068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9800296853463902446.mp4"}
+{"uid":"677605884885433273","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer 6- put a green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a green cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer 6- put a green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1084799754906504283.mp4"}
+{"uid":"17906553310335967412","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue cup in the tray 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- put a green cup in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue cup in the tray\n\u003c/PRED\u003e","video":"9113764175533444475.mp4"}
+{"uid":"7890535234263153483","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissues in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table 5- Wipe water from the table 6- Put the tissues in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table 5- Wipe water from the table 6- Put the tissues in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10337898715021058133.mp4"}
+{"uid":"8982237587080917007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer 6- Place the green cup in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer 6- Place the green cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4503744046904385498.mp4"}
+{"uid":"13953551718228399154","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- place the cherries on the table 3- place the grapes on the table 4- place the grapes on the table 5- arrange the grapes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e","video":"11751447472088123575.mp4"}
+{"uid":"5922328423269178385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8814313043801487670.mp4"}
+{"uid":"4599073758833807756","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":"15750212992166769373.mp4"}
+{"uid":"7229086908462270328","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":"1297728105816553849.mp4"}
+{"uid":"7207949657924193776","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":"6134991862020600756.mp4"}
+{"uid":"1876885123501021678","text":"\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table 13- place the orange on the table 14- place the apple on the table 15- place the green apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table 13- place the orange on the table 14- place the apple on the table 15- place the green apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"8884751066463820305.mp4"}
+{"uid":"10772989197787203563","text":"\u003ctask:success:discrete:False\u003e\nPlace the pink cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink cup in the tray 2- put a green cup in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e","video":"4291410986304430810.mp4"}
+{"uid":"16472282871947023146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"37778324846014006.mp4"}
+{"uid":"9693579477501929852","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table 13- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the green apple on the table 3- place the apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table 13- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"891544314779108911.mp4"}
+{"uid":"6311948901303121917","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- place the grapes on the table 3- arrange the grapes 4- place the apple on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1976912253873365582.mp4"}
+{"uid":"3513646360215130475","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":"15266801037997956512.mp4"}
+{"uid":"6987952558714865736","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":"10981997872873405617.mp4"}
+{"uid":"5059656587206444530","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1610240912968534116.mp4"}
+{"uid":"10834048671161408680","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cup in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green cup 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":"2929133314870672871.mp4"}
+{"uid":"4624124705730973474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the rightmost orange chocolate 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":"8175445155006496138.mp4"}
+{"uid":"17174269624480935756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"9584918186706550902.mp4"}
+{"uid":"2963069245255010391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive forward in hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13180447774034561556.mp4"}
+{"uid":"8491837753356046806","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15070005320917107748.mp4"}
+{"uid":"13660747777411238067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17761039079633018644.mp4"}
+{"uid":"905537916709851819","text":"\u003ctask:success:discrete:True\u003e\nput a green cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e","video":"18193238077828004864.mp4"}
+{"uid":"45784215785163430","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the table 2- Wipe water from the table 3- Put the tissues in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e","video":"13135025516396219648.mp4"}
+{"uid":"12913793496448980449","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table Q: immediate next step? \u003cPRED\u003eA: Wipe water from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i spilled my water in the mk. can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: Wipe water from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWipe water 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\nWipe water 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: i spilled my water in the mk. can you clean it up with napkins?. last 20 steps: 1- Put the tissue on the counter 2- Stack the tissue on the counter 3- Stack the tissue on the counter 4- Put the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe water from the table 2- Put the tissues in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe water from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe water from the table\n\u003c/PRED\u003e","video":"8490420203817221216.mp4"}
+{"uid":"15152650788406843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6060850825586204743.mp4"}
+{"uid":"3575585278885034126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15410476464016121419.mp4"}
+{"uid":"2645837762825851263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3909316084679824486.mp4"}
+{"uid":"16349996470424191667","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pink cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pink cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a pink cup in the drawer 2- drop the coffee cup into drawer 3- put a green cup in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: put a pink cup in the drawer\n\u003c/PRED\u003e","video":"356933235372333807.mp4"}
+{"uid":"7898306418074659683","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the grapes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the grapes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the grapes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the grapes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: arrange the grapes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the grapes 2- place the apple on the table 3- place the orange on the table 4- place the apple on the table 5- place the green apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: arrange the grapes\n\u003c/PRED\u003e","video":"5259918673366858257.mp4"}
+{"uid":"10056464913202715164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the orange ball. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17297394246376912429.mp4"}
+{"uid":"4186036002415851184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the  green house plant  towards the left orange  house plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6646062516109142049.mp4"}
+{"uid":"9377380846832521178","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- place the grapes on the table 3- place the grapes on the table 4- arrange the grapes 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e","video":"8595354273685052005.mp4"}
+{"uid":"11074491241572964487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8065160487993207183.mp4"}
+{"uid":"10097367595382348504","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6685274344601462337.mp4"}
+{"uid":"11450138131076855574","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cherries on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- place the cherries on the table 3- place the cherries on the table 4- place the grapes on the table 5- place the grapes on the table\n\u003c/PRED\u003e","video":"8033080217637564238.mp4"}
+{"uid":"9838917318641571196","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a green cup in the drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a green cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e","video":"299026640742394176.mp4"}
+{"uid":"9292331595701543042","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cup in the tray 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green cup 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":"1371995397144389038.mp4"}
+{"uid":"12479662691009616168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1176982920819194223.mp4"}
+{"uid":"11963004325280024314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut eight 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":"17884304276602803653.mp4"}
+{"uid":"16629606153835061975","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Wipe water from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWipe water 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":"12005967797066989305.mp4"}
+{"uid":"15602160455788974212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12084978182001108574.mp4"}
+{"uid":"18335227198622624194","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a blue cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a blue cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue cup in the drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- put a green cup in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a blue cup in the drawer\n\u003c/PRED\u003e","video":"4487458748317666239.mp4"}
+{"uid":"1795373403035228701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"17360910858712607878.mp4"}
+{"uid":"1935444838238127044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table 13- place the orange on the table 14- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table 3- place the orange on the table 4- place the orange on the table 5- place the orange on the table 6- place the cherries on the table 7- place the cherries on the table 8- place the cherries on the table 9- place the grapes on the table 10- place the grapes on the table 11- arrange the grapes 12- place the apple on the table 13- place the orange on the table 14- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11009419517577137079.mp4"}
+{"uid":"16648788315728505566","text":"\u003ctask:success:discrete:True\u003e\ndrop the coffee cup into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the coffee cup into drawer\n\u003c/PRED\u003e","video":"14430860831476094320.mp4"}
+{"uid":"9590110609675128855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"4226020420362060187.mp4"}
+{"uid":"6909080121396335885","text":"\u003ctask:success:discrete:False\u003e\nput a green cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a green cup in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer 4- drop the coffee cup into drawer 5- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: put a green cup in the drawer\n\u003c/PRED\u003e","video":"6682948798288816152.mp4"}
+{"uid":"14160337025142345805","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl. last 20 steps: 1- place the banana on the table 2- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the orange on the table 4- place the cherries on the table 5- place the cherries on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruit from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"17845215345711067570.mp4"}
+{"uid":"8071131369342700431","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink cup in the tray 2- drop the coffee cup into drawer 3- put a green cup in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups into drawer Q: immediate next step? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups into drawer. last 20 steps: 1- drop the coffee cup into drawer 2- drop the coffee cup into drawer 3- drop the coffee cup into drawer Q: immediate next step? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink cup in the tray\n\u003c/PRED\u003e","video":"10734115033158293570.mp4"}
+{"uid":"6393144961024671570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep one glass from stack onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7575280440051581455.mp4"}
+{"uid":"400664483378498431","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"5752330970286008716.mp4"}
+{"uid":"14443274673277760749","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"7049588292979939530.mp4"}
+{"uid":"14438794672558332471","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow cup on the table 2- Place the pink cup on the table 3- Place the yellow cup on the table 4- Place the pink cup on the table 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: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow 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","video":"10580654086574884185.mp4"}
+{"uid":"11853187003429965444","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":"5371603205724145502.mp4"}
+{"uid":"326003398686914658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput milk carton in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13527475355228614516.mp4"}
+{"uid":"10597173388758933627","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6188593789107600301.mp4"}
+{"uid":"13312802554901609273","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- Put the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"4039972502655698042.mp4"}
+{"uid":"7587948083115380384","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue 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 on the table\n\u003c/PRED\u003e","video":"14582154440392435888.mp4"}
+{"uid":"9472413617322294806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2368130984926647951.mp4"}
+{"uid":"5927788656511985579","text":"\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e","video":"15045539903184154823.mp4"}
+{"uid":"15309798913631349320","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- Put the apple in the bowl 3- Put the tissue on the table 4- done\n\u003c/PRED\u003e","video":"9017162582882856419.mp4"}
+{"uid":"3887604977384755013","text":"\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: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: Retrieve the colored plastic cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the green cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table 6- Place the green cup on 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: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table 6- Place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cup on the table 2- Close the drawer 3- done\n\u003c/PRED\u003e","video":"10742884109719377390.mp4"}
+{"uid":"258633931899491103","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the tissue on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"5912232661572192490.mp4"}
+{"uid":"15409434993128735645","text":"\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\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl 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: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e","video":"17253018589355194084.mp4"}
+{"uid":"5794220726826119857","text":"\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- Put the apple in the bowl 3- Put the tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3440915875675830308.mp4"}
+{"uid":"5895958374451083461","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":"8863758069945347778.mp4"}
+{"uid":"12871241959386714616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6726408135040965567.mp4"}
+{"uid":"8583285453050681542","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the tissue on the table 5- done\n\u003c/PRED\u003e","video":"15881957167542624693.mp4"}
+{"uid":"2675497858771751399","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the tissue on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"17711622190652739604.mp4"}
+{"uid":"9090419696049021068","text":"\u003ctask:success:discrete:True\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"7946302580257433524.mp4"}
+{"uid":"10223365300104554803","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":"7312859366018252978.mp4"}
+{"uid":"2052241212004431565","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":"9508906402458899844.mp4"}
+{"uid":"6866061504609849594","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table 6- Place the green cup on the table 7- Place the green cup 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: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: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table 6- Place the green cup on the table 7- Place the green cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right 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","video":"5241430675023714085.mp4"}
+{"uid":"2829754782357518967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8368854245318742283.mp4"}
+{"uid":"9727092704715966735","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter 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\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue 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 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","video":"9631790474140209912.mp4"}
+{"uid":"16895740601195416275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"16363586870570095031.mp4"}
+{"uid":"15832013644931624752","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table\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: Retrieve the colored plastic cups from the top right 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","video":"14782253189828179601.mp4"}
+{"uid":"4800263615088023379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17508028133842789298.mp4"}
+{"uid":"15225244816190083321","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"2931766722905126028.mp4"}
+{"uid":"140396336497307100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13504161158210139790.mp4"}
+{"uid":"10264712530311849164","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":"3443437019525482297.mp4"}
+{"uid":"14075591344444479102","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":"7139380200207668366.mp4"}
+{"uid":"2741254540434115341","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"2637981183833045789.mp4"}
+{"uid":"3977566038547969296","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink cup on the table 2- Place the green cup on the table 3- Place the green cup on the table 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink 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: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e","video":"7915817327349292656.mp4"}
+{"uid":"5622479482365114812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11305503838543615773.mp4"}
+{"uid":"896723553332177712","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":"16916409973187434310.mp4"}
+{"uid":"15406750779378427680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11147399589288129377.mp4"}
+{"uid":"14577062204274866907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  orange into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1712612698011114498.mp4"}
+{"uid":"16856594399871624332","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e","video":"4198493488897877032.mp4"}
+{"uid":"833238911038755965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15114702532402297835.mp4"}
+{"uid":"1266652465576506475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red bull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7719659574248364209.mp4"}
+{"uid":"11783571292614633894","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"13056376784037539107.mp4"}
+{"uid":"2067513686763176103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7406034171098483524.mp4"}
+{"uid":"8385181714423786013","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"7521047150098789413.mp4"}
+{"uid":"1151571611515338329","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5476661540870868500.mp4"}
+{"uid":"386094139082850031","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"10564922635369204353.mp4"}
+{"uid":"10072198473652461536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7246987991759437701.mp4"}
+{"uid":"16773588134534809535","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table Q: immediate next step? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink 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 pink 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: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink cup on the table 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the green cup on the table 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: Place the pink cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink cup on the table\n\u003c/PRED\u003e","video":"1313280936542241720.mp4"}
+{"uid":"18185650691157441993","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17894128516841284133.mp4"}
+{"uid":"475654483259596382","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow cup on the table 2- Place the pink cup on the table 3- Place the green cup on the table 4- Place the green cup on the table 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4174040274759709649.mp4"}
+{"uid":"17742603117322325744","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- Put the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl 2- put apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"12753731456820555726.mp4"}
+{"uid":"17921030388991522672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"4458595034062452450.mp4"}
+{"uid":"4250362822622372680","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place apples in the bowl. then place napkin on counter. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"11779587365530621494.mp4"}
+{"uid":"3853409552257259535","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":"9458844446645409725.mp4"}
+{"uid":"2322288885471368429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"10148661291591671746.mp4"}
+{"uid":"9201637610059918841","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green cup on the table 2- Place the green cup on the table 3- Close the drawer 4- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer. last 20 steps: 1- Open the drawer 2- Place the yellow cup on the table 3- Place the pink cup on the table 4- Place the yellow cup on the table 5- Place the pink cup on the table Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: Retrieve the colored plastic cups from the top right drawer Q: immediate next step? \u003cPRED\u003eA: 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: 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":"618369253001142448.mp4"}
+{"uid":"12778268531260728738","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":"11760512048796299031.mp4"}
+{"uid":"7656683486507597567","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put last pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put last pen in the stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put last pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput last 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:success:discrete:False\u003e\nput last 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put last pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put last pen in the stand\n\u003c/PRED\u003e","video":"17295996974673425871.mp4"}
+{"uid":"12034089076560107031","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- put the pen in the pen stand 3- put the black pen in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"7048513088833378006.mp4"}
+{"uid":"8275801446371606340","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put second pen in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput second pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put second pen in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put second pen in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put second pen in stand 2- put the pen in the pen stand 3- put the black pen in the stand 4- put the pen in the pen stand 5- put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput second pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put second pen in stand\n\u003c/PRED\u003e","video":"5666198069313393098.mp4"}
+{"uid":"81596048506390630","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e","video":"12151406391157905123.mp4"}
+{"uid":"524147762484175292","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":"8647228508634843856.mp4"}
+{"uid":"7800188713423826273","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 6- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 6- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16304170090357431258.mp4"}
+{"uid":"6013125974878002878","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put last pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 6- put last pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput last 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: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 6- put last pen in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11663190996207762847.mp4"}
+{"uid":"12579797624804917381","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"14980557756397927719.mp4"}
+{"uid":"4827474929643830331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10437988078647999611.mp4"}
+{"uid":"3913440462196181680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple towards left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11871038727862180170.mp4"}
+{"uid":"11706932324334761021","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the stand 2- put the black pen in the stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the blue 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 blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14666102727431314867.mp4"}
+{"uid":"14190877936111665287","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put the black pen in the stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e","video":"12136358966997649208.mp4"}
+{"uid":"2769126387713047707","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":"11708781714899793741.mp4"}
+{"uid":"2271772095930589006","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pen in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put pen in stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pen in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put pen in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put pen in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10308549844845150300.mp4"}
+{"uid":"11089693167596190774","text":"\u003ctask:success:discrete:True\u003e\nPut pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pen in stand\n\u003c/PRED\u003e","video":"17718541681194827457.mp4"}
+{"uid":"16494547039929802371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop cup into 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":"6144173718249229040.mp4"}
+{"uid":"12892769590263316679","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 4 pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 4 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 4 pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 4 pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 4 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:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put 4 pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 4 pen in the stand 2- put the pen in the pen stand 3- put the black pen in the stand 4- done\n\u003c/PRED\u003e","video":"12922167021105786088.mp4"}
+{"uid":"6901478075652684707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the second left 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":"15930433801511024879.mp4"}
+{"uid":"17271942991214470461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3478330630856434319.mp4"}
+{"uid":"15297475180386823796","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"9253125663553727324.mp4"}
+{"uid":"18322932471641532552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1945980336538177160.mp4"}
+{"uid":"12080341095001823182","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the black pen in the stand 3- done\n\u003c/PRED\u003e","video":"2679905325276551788.mp4"}
+{"uid":"9798254925762128927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"3881976016931861943.mp4"}
+{"uid":"12098062093088040807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15409474362073462615.mp4"}
+{"uid":"9935325275043545033","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 6- put the black pen in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 6- put the black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11655068075896162386.mp4"}
+{"uid":"9395309639088986980","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black 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 black pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the stand 2- put the black pen in the stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- done\n\u003c/PRED\u003e","video":"15789926698703114871.mp4"}
+{"uid":"15843423496575946356","text":"\u003ctask:success:discrete:False\u003e\nput 3 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:affordance:discriminative:discrete:True\u003e\nput 3 pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put 3 pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 3 pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 3 pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put 3 pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put 3 pen in the stand 2- put the black pen in the stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- done\n\u003c/PRED\u003e","video":"16843255165017193874.mp4"}
+{"uid":"11088377418146457586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12917214751583214920.mp4"}
+{"uid":"1786719832632714960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14688295058986134294.mp4"}
+{"uid":"17881443150752765450","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand 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:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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":"8803352332378350917.mp4"}
+{"uid":"12840636168430401104","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e","video":"18000367265659834144.mp4"}
+{"uid":"5708086618887767215","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen stand 2- put the pen in the pen stand 3- put the black pen in the stand 4- put the pen in the pen stand 5- put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4216790067502097224.mp4"}
+{"uid":"7184058525563048188","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":"14991709655594303336.mp4"}
+{"uid":"4109596161692627830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"12264622811158798817.mp4"}
+{"uid":"2536430093742488785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10777607726352087021.mp4"}
+{"uid":"9581195046026459596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7440789236720119300.mp4"}
+{"uid":"11901679509354150360","text":"\u003ctask:success:discrete:True\u003e\nput the black 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 black pen in the stand\n\u003c/PRED\u003e","video":"13398497974729609428.mp4"}
+{"uid":"6042021958341255532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13686664406493040720.mp4"}
+{"uid":"15770235472323419431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12467485348167482270.mp4"}
+{"uid":"18149307387695594015","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":"6944930642839628911.mp4"}
+{"uid":"8436115569757340662","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":"13327466730428468574.mp4"}
+{"uid":"4452058000321584570","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black 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: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the stand 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e","video":"17367025533748731849.mp4"}
+{"uid":"4506813487409237980","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black 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 black pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the stand 2- put the pen in the pen stand 3- put the black pen in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e","video":"9267312256731397934.mp4"}
+{"uid":"4735059094506915500","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15307137492556030583.mp4"}
+{"uid":"16730004046384438918","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the black pen in the stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 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","video":"1984045727154506161.mp4"}
+{"uid":"13182932593133578105","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the stand 2- put the pen in the pen stand 3- put the black pen in the stand 4- put the pen in the pen stand 5- put the black 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 blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6221302063963195918.mp4"}
+{"uid":"18231590092338330567","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":"5871446249185911150.mp4"}
+{"uid":"17242536570670691825","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5101133371673330999.mp4"}
+{"uid":"2077800067491885869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand 5- 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 black pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black 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:success:discrete:False\u003e\nput the black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black pen in the stand\n\u003c/PRED\u003e","video":"555061347516784178.mp4"}
+{"uid":"16790279435410842167","text":"\u003ctask:success:discrete:True\u003e\nput the black 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 black pen in the stand\n\u003c/PRED\u003e","video":"10194594078131908056.mp4"}
+{"uid":"10219599010481115773","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- place the pen in the pen stand 3- put the pen in the pen stand 4- put the black pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the stand 2- put the black pen in the stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue 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:affordance:discriminative:discrete:True\u003e\nput blue 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":"1493546459733108566.mp4"}
+{"uid":"11269683073573025275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14258274760909399316.mp4"}
+{"uid":"17659517261479369139","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":"14483419667915397052.mp4"}
+{"uid":"1410017148019449377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14467026746913468988.mp4"}
+{"uid":"16880421817322106250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet 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":"6638904792172203235.mp4"}
+{"uid":"9083165173346197360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSwitch on the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12632388780662308266.mp4"}
+{"uid":"10899840962347005955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup 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":"13458514977445437565.mp4"}
+{"uid":"8734751899804519023","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange cable 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":"3755648380825024110.mp4"}
+{"uid":"16685327625811815436","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":"17451717795688536948.mp4"}
+{"uid":"3122466838326834102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10637285872720516997.mp4"}
+{"uid":"6158036690532229918","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1431470159885376208.mp4"}
+{"uid":"9078785288240375558","text":"\u003ctask:success:discrete:True\u003e\nOpen the right flap of 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: Open the right flap of the cardboard box\n\u003c/PRED\u003e","video":"15994585608089645018.mp4"}
+{"uid":"1971566801646342507","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"4682322375636537293.mp4"}
+{"uid":"11552698115190512657","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the measuring tape\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the measuring tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick up the measuring tape\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the measuring tape 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the measuring tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the measuring tape\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the measuring tape\n\u003c/PRED\u003e","video":"12087431924071625896.mp4"}
+{"uid":"9560365340682661829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"14516353135110253619.mp4"}
+{"uid":"15853517060448997226","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":"6224892484609576481.mp4"}
+{"uid":"6729090914274996901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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\nopen 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box 2- drop the black box in the cardboard box 3- pick the belt 4- drop the belt in the cardboard box 5- pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard 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 desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e","video":"972467834851335008.mp4"}
+{"uid":"4934726086572386347","text":"\u003ctask:success:discrete:True\u003e\ndrop the black cable 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 the black cable in the cardboard box\n\u003c/PRED\u003e","video":"1832599419758233852.mp4"}
+{"uid":"15123412086536491037","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cardboard 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 desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box 2- drop the black box in the cardboard box 3- pick the belt 4- drop the belt in the cardboard box 5- pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e","video":"11350636420918257834.mp4"}
+{"uid":"2510666868770357225","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black box 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black box in the cardboard box 2- drop the belt in the cardboard box 3- pick the orange cable 4- drop the orange cable in the cardboard box 5- pick the black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black box 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black box in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the black box in the cardboard box\n\u003c/PRED\u003e","video":"14505473615374517649.mp4"}
+{"uid":"5197870630052291285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1599522125785156406.mp4"}
+{"uid":"4676284710281566752","text":"\u003ctask:success:discrete:True\u003e\nPick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the yellow packet\n\u003c/PRED\u003e","video":"14397405559426968101.mp4"}
+{"uid":"17056951301518571392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13286332823934237434.mp4"}
+{"uid":"13210179203185286471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5799157593575295219.mp4"}
+{"uid":"11759036199817344847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellowish brown chocolate 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":"17442383590781422159.mp4"}
+{"uid":"6482240727926724528","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":"631239433515622106.mp4"}
+{"uid":"6299680346531200150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPic the brown plastic bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10876535671040113905.mp4"}
+{"uid":"14473899778556914467","text":"\u003ctask:success:discrete:True\u003e\nopen 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: open the cardboard box\n\u003c/PRED\u003e","video":"16658392670193111641.mp4"}
+{"uid":"2426777764821115644","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the belt 2- drop the belt in the cardboard box 3- pick the orange cable 4- drop the orange cable in the cardboard box 5- pick the black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the belt\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 belt\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick up the belt\n\u003c/PRED\u003e","video":"7685878009504033248.mp4"}
+{"uid":"8316115685246735082","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the cardboard box 2- pick the black box 3- drop the black box in the cardboard box 4- pick the belt 5- drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the cardboard box\n\u003c/PRED\u003e","video":"6920761296173665851.mp4"}
+{"uid":"16298053002144940993","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":"4076371779341791808.mp4"}
+{"uid":"8086096160632076510","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the left flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the left flap of 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":"15669552014888915542.mp4"}
+{"uid":"7475441256910099915","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: immediate next step? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow object 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow object 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow object in the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow object in the cardboard box\n\u003c/PRED\u003e","video":"2760080931684955757.mp4"}
+{"uid":"8210806830074283610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1469254123451013744.mp4"}
+{"uid":"9392354290669949065","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the belt in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the belt in the cardboard box 2- pick the orange cable 3- drop the orange cable in the cardboard box 4- pick the black object 5- drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the belt 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the belt 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e","video":"4859794190597120472.mp4"}
+{"uid":"9635379127241309415","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"7213356739414896720.mp4"}
+{"uid":"7884950705532106353","text":"\u003ctask:success:discrete:False\u003e\nPick the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange object\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange object 2- pick the black cable 3- drop the black cable in the cardboard box 4- pick the yellow packet 5- pick up the yellow packet\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e","video":"1195228895432348974.mp4"}
+{"uid":"123683253401727986","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow packet 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow packet in the cardboard box 2- Pick up the measuring table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow packet in the cardboard box\n\u003c/PRED\u003e","video":"15292090573150176129.mp4"}
+{"uid":"13888540823918066729","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable in the cardboard\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the cardboard 2- pick the black object 3- drop the black object in the cardboard box 4- pick the black cable 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable in the cardboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable in the cardboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable in the cardboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14194033740759584208.mp4"}
+{"uid":"8112163465236370302","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the mini brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the mini brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the mini brown 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the mini brown box 2- pick the belt 3- drop the belt in the cardboard box 4- pick the orange cable 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the mini brown 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the mini brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the mini brown box\n\u003c/PRED\u003e","video":"2684712331105532130.mp4"}
+{"uid":"9915955345191650582","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":"7795041707019041270.mp4"}
+{"uid":"7844660694873227157","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable 2- pick the yellow packet 3- pick up the yellow packet 4- drop the yellow packet in the cardboard box 5- Pick up the measuring table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e","video":"10034737326651144463.mp4"}
+{"uid":"13097811994837913609","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the belt 2- pick the orange cable 3- drop the orange cable in the cardboard box 4- pick the black object 5- drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e","video":"12567686561367670195.mp4"}
+{"uid":"11501268896972546179","text":"\u003ctask:success:discrete:True\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e","video":"6228345806745499799.mp4"}
+{"uid":"18019522365289620661","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8594803853986507334.mp4"}
+{"uid":"16258587090810004163","text":"\u003ctask:success:discrete:True\u003e\nDrop the yellow packet 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 the yellow packet in the cardboard box\n\u003c/PRED\u003e","video":"1235516376337438809.mp4"}
+{"uid":"2216617329160899703","text":"\u003ctask:success:discrete:True\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e","video":"6203063303215228532.mp4"}
+{"uid":"17690815417086537581","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow object 2- drop the yellow packet in the cardboard box 3- Pick up the measuring table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow object\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e","video":"11992908376474521262.mp4"}
+{"uid":"5681571163717878212","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the cardboard box 2- drop the black object in the cardboard box 3- pick the black cable 4- drop the black cable in the cardboard box 5- pick the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"10053346396991602073.mp4"}
+{"uid":"3151176299938489743","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk. last 20 steps: 1- open the fridge 2- place the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me water from Mk Fridge and bring it to my desk. last 20 steps: 1- open the fridge 2- place the bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6113450651178675293.mp4"}
+{"uid":"154019138397429990","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brown box 2- pick the belt 3- drop the belt in the cardboard box 4- pick the orange cable 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brown box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brown box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the brown box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brown 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the brown box\n\u003c/PRED\u003e","video":"16066260462140353970.mp4"}
+{"uid":"6000757136578638780","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":"14830579221822429198.mp4"}
+{"uid":"6165886577110235934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14451751201352270174.mp4"}
+{"uid":"8242276887369388989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15086862295449244120.mp4"}
+{"uid":"13672000952212112034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the battery into the green 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":"11012381405411733806.mp4"}
+{"uid":"17225159334208314284","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stone 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":"3823276843662619800.mp4"}
+{"uid":"17657399502989143371","text":"\u003ctask:success:discrete:True\u003e\npick the mini brown 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the brown box 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\nDrop the brown box 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the mini brown 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brown box in the cardboard box 2- drop the belt in the cardboard box 3- pick the orange cable 4- drop the orange cable in the cardboard box 5- pick the black object\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: immediate next step? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e","video":"2722987770064503427.mp4"}
+{"uid":"11246410110640226954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the black cable\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the black cable 2- pick the yellow packet 3- pick up the yellow packet 4- drop the yellow packet in the cardboard box 5- Pick up the measuring table\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick the black cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9465877714576143211.mp4"}
+{"uid":"1299289850135653626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull 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":"12636757932587237633.mp4"}
+{"uid":"11602782683705649225","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the belt 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the belt in the cardboard box 2- drop the orange cable in the cardboard box 3- pick the black object 4- drop the black object in the cardboard box 5- pick the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the belt in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e","video":"7566854169809031240.mp4"}
+{"uid":"1820713845215119722","text":"\u003ctask:success:discrete:False\u003e\ndrop the black object 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object in the cardboard box 2- drop the black cable in the cardboard box 3- pick the yellow packet 4- pick up the yellow packet 5- drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e","video":"5705028695840584464.mp4"}
+{"uid":"15182178212447187746","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow object in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- drop the yellow object in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- drop the yellow object in the cardboard 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 desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the yellow object 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":"9338645778101531749.mp4"}
+{"uid":"10065885093869582239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green marker from the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7745851221505466834.mp4"}
+{"uid":"15116031221288220442","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":"7417020170390221596.mp4"}
+{"uid":"15629928272450837388","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the belt 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":"6544503764684153824.mp4"}
+{"uid":"13862602664725620398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow toffee on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16504817116044546615.mp4"}
+{"uid":"12181886505857865209","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the right flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right flap of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box Q: immediate next step? \u003cPRED\u003eA: Open the right flap of the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right flap of the cardboard box 2- drop the black box in the cardboard box 3- pick the belt 4- drop the belt in the cardboard box 5- pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the right flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right flap of 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","video":"13671106936549102209.mp4"}
+{"uid":"14134049048803118014","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the mini brown box 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the mini brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the mini brown box 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the mini brown box in the cardboard box 2- drop the belt in the cardboard box 3- pick the orange cable 4- drop the orange cable in the cardboard box 5- pick the black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the mini brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the mini brown box in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: immediate next step? \u003cPRED\u003eA: drop the mini brown box in the cardboard box\n\u003c/PRED\u003e","video":"7727197915241385757.mp4"}
+{"uid":"13772399344391986059","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the n black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the n black object 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the n black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the n black object 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the n black object in the cardboard box 2- drop the black cable in the cardboard box 3- pick the yellow packet 4- pick up the yellow packet 5- drop the yellow packet in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the n black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the n black object in the cardboard box\n\u003c/PRED\u003e\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":"9459747874597633498.mp4"}
+{"uid":"10679552935518122989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12656198210357374757.mp4"}
+{"uid":"7532921779625172206","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":"15665552848758541936.mp4"}
+{"uid":"16580988668300159730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7729957938573683285.mp4"}
+{"uid":"18034675900363741042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"9829974119206054910.mp4"}
+{"uid":"1963056490983829762","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the left flap of 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:success:discrete:False\u003e\nOpen the left flap of 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the left flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the left flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the left flap of the cardboard 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 desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the left flap of the cardboard box 2- pick the black box 3- drop the black box in the cardboard box 4- pick the belt 5- drop the belt in the cardboard 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 desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the left flap of the cardboard box\n\u003c/PRED\u003e","video":"14589698556290668104.mp4"}
+{"uid":"4789894158271352105","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the belt 2- pick the orange cable 3- drop the orange cable in the cardboard box 4- pick the black object 5- drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the belt\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: immediate next step? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e","video":"8644524772391819793.mp4"}
+{"uid":"13288223799562768208","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable 2- pick the black object 3- drop the black object in the cardboard box 4- pick the black cable 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12088412124081718565.mp4"}
+{"uid":"3546437622823386359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2190400048140659278.mp4"}
+{"uid":"4440321786744571453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cream 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":"7312143451792074879.mp4"}
+{"uid":"3432042526089768456","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange cable 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:success:discrete:False\u003e\nDrop the orange cable 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange cable in the cardboard box 2- pick the black object 3- drop the black object in the cardboard box 4- pick the black cable 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"203422596394509455.mp4"}
+{"uid":"550514242561566712","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the belt in the cardboard box 2- pick the orange cable 3- drop the orange cable in the cardboard box 4- pick the black object 5- drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the belt 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: Drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the belt in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: immediate next step? \u003cPRED\u003eA: Drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the belt 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","video":"10556102427028564802.mp4"}
+{"uid":"12065961970338807389","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: pick the black object\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object 2- pick the black cable 3- drop the black cable in the cardboard box 4- pick the yellow packet 5- pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e","video":"5848165948007478104.mp4"}
+{"uid":"3332659343118300496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the package 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":"12680377130514947751.mp4"}
+{"uid":"10322382600263500563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6897466571785838279.mp4"}
+{"uid":"16365399157027380463","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":"10224000146225161799.mp4"}
+{"uid":"11854452247841415245","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable 2- pick the black object 3- drop the black object in the cardboard box 4- pick the black cable 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e","video":"8529558917777562125.mp4"}
+{"uid":"9538722924741342106","text":"\u003ctask:success:discrete:False\u003e\nDrop the black cable 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black cable 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black cable in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black cable in the cardboard box 2- pick up the yellow packet 3- drop the yellow packet in the cardboard box 4- Pick up the measuring table 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable Q: immediate next step? \u003cPRED\u003eA: Drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"739275734472423873.mp4"}
+{"uid":"10096834972044084757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow 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":"16604869309854412007.mp4"}
+{"uid":"17468882662902699380","text":"\u003ctask:success:discrete:True\u003e\nPick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the black cable\n\u003c/PRED\u003e","video":"13363469640654378286.mp4"}
+{"uid":"296000911602428741","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":"14279627578070673601.mp4"}
+{"uid":"17152910622114991037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knives 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":"13425031430755469452.mp4"}
+{"uid":"8227029691098508846","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":"1362092978618983203.mp4"}
+{"uid":"16189969270591442856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6289090479583483084.mp4"}
+{"uid":"7992694785238986724","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the n black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the n black object 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":"3026062132778369388.mp4"}
+{"uid":"14193602918740049894","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the yellow packet\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick the yellow packet\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the yellow packet 2- drop the yellow packet in the cardboard box 3- Pick up the measuring table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the yellow packet\n\u003c/PRED\u003e","video":"9587078247113202140.mp4"}
+{"uid":"2897745251582855796","text":"\u003ctask:success:discrete:True\u003e\nPick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e","video":"13390542610155972608.mp4"}
+{"uid":"18039747649630208830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17963828798137729749.mp4"}
+{"uid":"3565888129022623932","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":"8970281231847009638.mp4"}
+{"uid":"17196264997049848677","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable Q: immediate next step? \u003cPRED\u003eA: drop the cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cable in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable in the cardboard box 2- pick up the yellow packet 3- drop the yellow packet in the cardboard box 4- Pick up the measuring table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cable 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:success:discrete:False\u003e\ndrop the cable 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cable in the cardboard box\n\u003c/PRED\u003e","video":"11019382085373142673.mp4"}
+{"uid":"14399867395467682002","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: immediate next step? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange cable 2- pick the black object 3- drop the black object in the cardboard box 4- pick the black cable 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3249562139241249005.mp4"}
+{"uid":"14379712546294578738","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cable 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":"18415047630144887301.mp4"}
+{"uid":"15760613804264405908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left indoor plant to the right plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8058634535089350124.mp4"}
+{"uid":"13876690792546512693","text":"\u003ctask:success:discrete:True\u003e\npick the black box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black box\n\u003c/PRED\u003e","video":"13614644504930334266.mp4"}
+{"uid":"5635682219192146349","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the brown box 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":"17582986659160664507.mp4"}
+{"uid":"1295277456727041695","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black cable 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:success:discrete:False\u003e\ndrop the black cable 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black cable in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black cable in the cardboard box 2- pick up the yellow packet 3- drop the yellow packet in the cardboard box 4- Pick up the measuring table 5- done\n\u003c/PRED\u003e","video":"15340521300087010204.mp4"}
+{"uid":"7397081669270737489","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet 2- pick up the yellow packet 3- drop the yellow packet in the cardboard box 4- Pick up the measuring table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16425394020433132612.mp4"}
+{"uid":"3264353376168388934","text":"\u003ctask:success:discrete:True\u003e\nPick up the brown 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: Pick up the brown box\n\u003c/PRED\u003e","video":"4720464650608094612.mp4"}
+{"uid":"3442050037675697858","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9962042677927681259.mp4"}
+{"uid":"12997610340868649999","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the black cable 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":"2531150787351289896.mp4"}
+{"uid":"2593542703420212713","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black 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 desk into the box. last 20 steps: 1- move close to the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black box 2- pick the belt 3- drop the belt in the cardboard box 4- pick the orange cable 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5963263224325272565.mp4"}
+{"uid":"8638425761426774442","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the measuring table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the measuring table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick up the measuring table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the measuring table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick up the measuring table\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the measuring table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the measuring table\n\u003c/PRED\u003e","video":"14394679425857135439.mp4"}
+{"uid":"17383709683701322169","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the Measuring Tape\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the Measuring Tape\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the Measuring Tape 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the Measuring Tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the Measuring Tape\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the Measuring Tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the Measuring Tape\n\u003c/PRED\u003e","video":"4702931041160509466.mp4"}
+{"uid":"7132477320475819050","text":"\u003ctask:success:discrete:False\u003e\nDrop the orange object 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object Q: immediate next step? \u003cPRED\u003eA: Drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange object in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange object in the cardboard box 2- drop the black cable in the cardboard box 3- pick the yellow packet 4- pick up the yellow packet 5- drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange object 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"1083542819604249547.mp4"}
+{"uid":"16226344806923143358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green marker 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":"694007056485145272.mp4"}
+{"uid":"8088588928755025159","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object 2- pick the black cable 3- drop the black cable in the cardboard box 4- pick the yellow packet 5- pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"255879977501232514.mp4"}
+{"uid":"15717782980362989909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a plastic spoon 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":"5719968025465517973.mp4"}
+{"uid":"2840618008049503312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable 2- pick the yellow packet 3- pick up the yellow packet 4- drop the yellow packet in the cardboard box 5- Pick up the measuring table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18445832748220311718.mp4"}
+{"uid":"11175508462767083329","text":"\u003ctask:success:discrete:True\u003e\ndrop the black box 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 the black box in the cardboard box\n\u003c/PRED\u003e","video":"12925757277888575680.mp4"}
+{"uid":"7650657945246107443","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow packet\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow packet 2- Pick up the measuring table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet\n\u003c/PRED\u003e","video":"10947951864547360665.mp4"}
+{"uid":"12121311365340959309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6194119420179823153.mp4"}
+{"uid":"16952894384918148103","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box 16- Pick up the measuring 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 desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box 16- Pick up the measuring table 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 desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the measuring table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the measuring table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15174163594510038237.mp4"}
+{"uid":"6499426331132252437","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow packet 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the cardboard box 2- Pick up the measuring table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet 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","video":"10979296366803361346.mp4"}
+{"uid":"3329929557014445773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate 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":"9223311070217483595.mp4"}
+{"uid":"517373829906839728","text":"\u003ctask:success:discrete:True\u003e\nmove close to 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: move close to the cardboard box\n\u003c/PRED\u003e","video":"1760967944051634248.mp4"}
+{"uid":"5496540421388997133","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":"10308958659010486722.mp4"}
+{"uid":"12393121331181597259","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box 16- pick the Measuring Tape 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box 16- pick the Measuring Tape 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 Measuring Tape\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the Measuring Tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2391076429107460380.mp4"}
+{"uid":"3475239810828163963","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the measuring tape\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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box 16- pick up the measuring tape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the measuring tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box 4- drop the black box in the cardboard box 5- pick the belt 6- drop the belt in the cardboard box 7- pick the orange cable 8- drop the orange cable in the cardboard box 9- pick the black object 10- drop the black object in the cardboard box 11- pick the black cable 12- drop the black cable in the cardboard box 13- pick the yellow packet 14- pick up the yellow packet 15- drop the yellow packet in the cardboard box 16- pick up the measuring tape Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11403096441234810835.mp4"}
+{"uid":"4433489298049074668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the book to the corner 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":"14166070683290884019.mp4"}
+{"uid":"13633218686996272365","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the mini brown box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the mini brown 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\npick up the mini brown 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 desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the mini brown 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: immediate next step? \u003cPRED\u003eA: pick up the mini brown 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 desk into the box. last 20 steps: 1- move close to the cardboard box 2- open the cardboard box 3- pick the black box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the mini brown box 2- pick the belt 3- drop the belt in the cardboard box 4- pick the orange cable 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the mini brown box\n\u003c/PRED\u003e","video":"1220110825942922089.mp4"}
+{"uid":"17861652999630327785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13874100977717030987.mp4"}
+{"uid":"12199526414788764924","text":"\u003ctask:success:discrete:True\u003e\nDrop green jalapena chip bag in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop green jalapena chip bag in basket\n\u003c/PRED\u003e","video":"4495211713716912688.mp4"}
+{"uid":"17232434549907008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"15350433996878396933.mp4"}
+{"uid":"5099006619428413263","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in basket 2- Put the green packet in basket 3- Drop blue chip bag in glass jar 4- Put the green packet in basket 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7749788525189948876.mp4"}
+{"uid":"3200316678521168165","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop green rice chip bag in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop green rice chip bag in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket Q: immediate next step? \u003cPRED\u003eA: Drop green rice chip bag in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop green rice chip bag in basket 2- Put the green packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Drop green rice chip bag in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop green rice chip bag in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop green rice chip bag in basket\n\u003c/PRED\u003e","video":"13407937835220792595.mp4"}
+{"uid":"246039671718715368","text":"\u003ctask:success:discrete:True\u003e\nput the green chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e","video":"14438399613755558753.mp4"}
+{"uid":"14432279222386856557","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket Q: immediate next step? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the green chips packet in the basket 2- Put the green packet in basket 3- done\n\u003c/PRED\u003e","video":"15951707362436397003.mp4"}
+{"uid":"5711231862118994921","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":"17780296101818750103.mp4"}
+{"uid":"15202700675065584029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black 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":"4137885751052923574.mp4"}
+{"uid":"1818991052554681827","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":"15638846934419050296.mp4"}
+{"uid":"6821803153168255096","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop blue chip bag in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop blue chip bag in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7393143724424780001.mp4"}
+{"uid":"3935667231174780438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"47071813799242317.mp4"}
+{"uid":"6070286255771585790","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green potato chips packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the green chips packet in the basket 2- Drop blue chip bag in glass jar 3- Put the green packet in basket 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green potato chips packet in basket 2- Put the green packet in basket 3- Drop blue chip bag in glass jar 4- Put the green packet in basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green potato chips packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e","video":"470254388989960787.mp4"}
+{"uid":"10331664871952561005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13488807448431106294.mp4"}
+{"uid":"11394856983016980535","text":"\u003ctask:success:discrete:True\u003e\nPut the green packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar 5- Put the green packet in basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar 5- Put the green packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9877556651356668906.mp4"}
+{"uid":"3572979465295537315","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":"2904959306065725631.mp4"}
+{"uid":"5450247358733223112","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12626228864202468611.mp4"}
+{"uid":"3184067641815629577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep green chips packet outside 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":"2134900068554040898.mp4"}
+{"uid":"8419119794069067685","text":"\u003ctask:success:discrete:False\u003e\nput the chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the chips packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar Q: immediate next step? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e","video":"2290740025040492999.mp4"}
+{"uid":"13986112095365562608","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar Q: immediate next step? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in basket 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4404065325335723373.mp4"}
+{"uid":"946731377328476926","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":"3224709847957174212.mp4"}
+{"uid":"15688715721200318759","text":"\u003ctask:success:discrete:False\u003e\nDrop blue chip bag in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop blue chip bag in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip bag in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop blue chip bag in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop blue chip bag in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop blue chip bag in basket 2- Put the green packet in basket 3- Drop blue chip bag in glass jar 4- Put the green packet in basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop blue chip bag in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11037019834302062388.mp4"}
+{"uid":"8041283898523835636","text":"\u003ctask:success:discrete:False\u003e\nPut the green potato chips packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green potato chips packet in basket 2- Put the green packet in basket 3- Drop blue chip bag in glass jar 4- Put the green packet in basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green potato chips packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green potato chips packet in basket\n\u003c/PRED\u003e","video":"7149276772830574950.mp4"}
+{"uid":"1334049993973786767","text":"\u003ctask:success:discrete:True\u003e\nDrop green rice chip bag in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop green rice chip bag in basket\n\u003c/PRED\u003e","video":"10959644072666349851.mp4"}
+{"uid":"1760409726529935069","text":"\u003ctask:success:discrete:True\u003e\nPut the green packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e","video":"16329397842583254735.mp4"}
+{"uid":"7394982826264466220","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue chips packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue chips packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue chips packet in the basket 2- Put the green packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: put the blue chips packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket Q: immediate next step? \u003cPRED\u003eA: put the blue chips packet in the basket\n\u003c/PRED\u003e","video":"11945119325317392364.mp4"}
+{"uid":"14960877772050294015","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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6279499463685152477.mp4"}
+{"uid":"17766246782558861930","text":"\u003ctask:success:discrete:True\u003e\nDrop blue chip bag in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop blue chip bag in basket\n\u003c/PRED\u003e","video":"3948000441765891302.mp4"}
+{"uid":"4750212070032029932","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar Q: immediate next step? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chips packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket 4- Drop blue chip bag in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the chips packet in the basket 2- done\n\u003c/PRED\u003e","video":"17919172215364970243.mp4"}
+{"uid":"11413192016462098636","text":"\u003ctask:success:discrete:False\u003e\nPut the blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the basket 2- Put the green packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket 3- Put the green packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the basket\n\u003c/PRED\u003e","video":"5140749231648668532.mp4"}
+{"uid":"5892936191089923542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5302645458585119786.mp4"}
+{"uid":"12166456239323589017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15225657282816742545.mp4"}
+{"uid":"3711061060873738205","text":"\u003ctask:success:discrete:True\u003e\nput the blue chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue chips packet in the basket\n\u003c/PRED\u003e","video":"3922652875509627927.mp4"}
+{"uid":"11127464841804266163","text":"\u003ctask:success:discrete:True\u003e\nput the blue chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue chips packet in the basket\n\u003c/PRED\u003e","video":"13892632481002111414.mp4"}
+{"uid":"16789187965364026111","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop green jalapena chip bag in basket 2- Drop blue chip bag in glass jar 3- Put the green packet in basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop green jalapena chip bag in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Drop green jalapena chip bag in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop green jalapena chip bag in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop green jalapena chip bag in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop green jalapena chip bag in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop green jalapena chip bag in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3645116647217532712.mp4"}
+{"uid":"16054615574458202377","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip bag in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop blue chip bag in glass jar 2- Put the green packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop blue chip bag in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop blue chip bag in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop blue chip bag in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop blue chip bag in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket 2- Drop green jalapena chip bag in basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip bag in glass jar\n\u003c/PRED\u003e","video":"15693358754698363468.mp4"}
+{"uid":"3289416822191656972","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in basket 2- Put the green packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in wire basket Q: immediate next step? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in wire basket. last 20 steps: 1- put the blue chips packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the green packet in basket\n\u003c/PRED\u003e","video":"8681643661645376752.mp4"}
+{"uid":"3495931789979110733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green chips packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green chips packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12287549609850554864.mp4"}
+{"uid":"11338853030488964084","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":"6535964938180702908.mp4"}
+{"uid":"17509654523901264374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper clip 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":"7994491810162939319.mp4"}
+{"uid":"8971071949399936727","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5166891569753377094.mp4"}
+{"uid":"6421296114365385486","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 1 number object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 1 number object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 1 number object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the 1 number 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 1 number object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 1 number object in the box 2- Put the square shape object in the box 3- Put the 8 number object in the box 4- Put the 3 number object in the box 5- Put the 7 number object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box Q: immediate next step? \u003cPRED\u003eA: Put the 1 number object in the box\n\u003c/PRED\u003e","video":"6746124104085367193.mp4"}
+{"uid":"4008623428127633451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the tray to the other side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18013827381326058287.mp4"}
+{"uid":"16593397616611533535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the washing pad in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4593803755050154045.mp4"}
+{"uid":"15541192286116191228","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":"2820002531200237921.mp4"}
+{"uid":"8088007323799961677","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the 7 number object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 7 number 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box Q: immediate next step? \u003cPRED\u003eA: Put the 7 number object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 7 number object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 7 number object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 7 number object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 7 number object in the box 2- Put the heart shape object in the box 3- Put the diamond shape object in the box 4- Put the triangle shape object in the box 5- Put the 6 number object in the box\n\u003c/PRED\u003e","video":"14193585227023904206.mp4"}
+{"uid":"18426964552032227809","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table Q: immediate next step? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: 1- put the tissue into the paper cup 2- put the trash into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: 1- put the tissue into the paper cup 2- put the trash into the cup Q: immediate next step? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e","video":"8450052461263084411.mp4"}
+{"uid":"18239696318611378365","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":"6832267998168932080.mp4"}
+{"uid":"17483379390935700803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10512598458430809573.mp4"}
+{"uid":"4686296360320884766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea 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":"8834798306239518365.mp4"}
+{"uid":"16024792579478216708","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the tissue into the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table Q: immediate next step? \u003cPRED\u003eA: put the tissue into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue into the paper cup 2- put the trash into the cup 3- throw the cup in the bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7090328693424248027.mp4"}
+{"uid":"5832039836813604787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5837914612095978140.mp4"}
+{"uid":"14675721946586201719","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5566067977680141016.mp4"}
+{"uid":"17638316413997973502","text":"\u003ctask:success:discrete:False\u003e\nPut the triangle shape object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the triangle shape object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box 8- Put the diamond shape object in the box Q: immediate next step? \u003cPRED\u003eA: Put the triangle shape object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box 8- Put the diamond shape object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the triangle shape object in the box 2- Put the 6 number object in the box 3- move the box backward 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the triangle shape object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the triangle shape object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the triangle shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"869086488287050319.mp4"}
+{"uid":"3693681683321913514","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the pen in the holder 3- put the marker in the holder 4- put the pen in the holder 5- put the marker in the holder\n\u003c/PRED\u003e","video":"13723282553325109823.mp4"}
+{"uid":"9146019941719097767","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the diamond shape object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the diamond shape object in the box 2- Put the triangle shape object in the box 3- Put the 6 number object in the box 4- move the box backward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box Q: immediate next step? \u003cPRED\u003eA: Put the diamond shape object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the diamond shape object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the diamond shape object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the diamond shape object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the diamond shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14592751096951441968.mp4"}
+{"uid":"2980276663969743895","text":"\u003ctask:success:discrete:True\u003e\nthrow the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: 1- put the tissue into the paper cup 2- put the trash into the cup 3- throw the cup in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: 1- put the tissue into the paper cup 2- put the trash into the cup 3- throw the cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"624338188670119251.mp4"}
+{"uid":"8391097803255563119","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the marker in the holder 3- put the pen in the holder 4- put the marker in the holder 5- put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"14848452441108996855.mp4"}
+{"uid":"2111742223959940042","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box Q: immediate next step? \u003cPRED\u003eA: Put the square shape object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the square shape object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the square shape 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the square shape object in the box 2- Put the 8 number object in the box 3- Put the 3 number object in the box 4- Put the 7 number object in the box 5- Put the heart shape object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the square shape 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the square shape 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 square shape object in the box\n\u003c/PRED\u003e","video":"12752422330728491383.mp4"}
+{"uid":"8807438339719898532","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15459547385349095065.mp4"}
+{"uid":"13541666753184627607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue cup in 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":"7202965927573556161.mp4"}
+{"uid":"4783529954882435895","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the marker in the holder 5- put the pen in the holder\n\u003c/PRED\u003e","video":"7732337406222151118.mp4"}
+{"uid":"209546173745267023","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"4538617497843846029.mp4"}
+{"uid":"16084271338288274247","text":"\u003ctask:success:discrete:False\u003e\nPut the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e","video":"16089808274549803717.mp4"}
+{"uid":"17186951081836514711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17656573671378406801.mp4"}
+{"uid":"980391064997744047","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder 8- put the marker in the holder 9- put the pen in the holder 10- put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder 8- put the marker in the holder 9- put the pen in the holder 10- put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7630974960452222333.mp4"}
+{"uid":"18014109522145362085","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"15139851681759551675.mp4"}
+{"uid":"1641258611836186339","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen 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: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 all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder 8- put the marker in the holder 9- put the pen 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 all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder 8- put the marker in the holder 9- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the holder 2- put the pen in the holder 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\u003ctask:success:discrete:False\u003e\nput the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3505321610236817157.mp4"}
+{"uid":"17195107936781980047","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":"17992409698467386358.mp4"}
+{"uid":"5021277152759865084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to 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":"12017409434575290922.mp4"}
+{"uid":"4655417314910629750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1827746655000551467.mp4"}
+{"uid":"12164188900934099546","text":"\u003ctask:success:discrete:False\u003e\nPut the 8 number object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 8 number 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: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the 8 number object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 8 number object in the box 2- Put the 3 number object in the box 3- Put the 7 number object in the box 4- Put the heart shape object in the box 5- Put the diamond shape 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 8 number object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box Q: immediate next step? \u003cPRED\u003eA: Put the 8 number object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 8 number object in the box\n\u003c/PRED\u003e","video":"599002232773919299.mp4"}
+{"uid":"7011625109845291584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut plastic  fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7154110725223904952.mp4"}
+{"uid":"8204852697601042048","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder 8- put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the marker in the holder 3- put the pen in the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder 8- put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e","video":"17577041977445767662.mp4"}
+{"uid":"226802128916140363","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box 8- Put the diamond shape object in the box 9- Put the triangle shape object in the box 10- Put the 6 number object in the box Q: immediate next step? \u003cPRED\u003eA: move the box backward\n\u003c/PRED\u003e\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\u003ctask:success:discrete:False\u003e\nmove the box backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: move the box backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the box backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the box backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the box backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box 8- Put the diamond shape object in the box 9- Put the triangle shape object in the box 10- Put the 6 number object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- move the box backward 2- done\n\u003c/PRED\u003e","video":"10134099255284960743.mp4"}
+{"uid":"15648006541196719198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17422222376059331223.mp4"}
+{"uid":"8067856124013817375","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the heart shape object in the box 2- Put the diamond shape object in the box 3- Put the triangle shape object in the box 4- Put the 6 number object in the box 5- move the box backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the heart shape object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box Q: immediate next step? \u003cPRED\u003eA: Put the heart shape object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the heart shape object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the heart shape 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 heart shape object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the heart shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9980932678237240940.mp4"}
+{"uid":"8877530050763599994","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the trash into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the trash into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table Q: immediate next step? \u003cPRED\u003eA: put the trash into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: 1- put the tissue into the paper cup Q: immediate next step? \u003cPRED\u003eA: put the trash into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the trash into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the trash into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Throw away all the trash that is on the table. last 20 steps: 1- put the tissue into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the trash into the cup 2- throw the cup in the bin 3- done\n\u003c/PRED\u003e","video":"17479742979010504294.mp4"}
+{"uid":"14857993614487717211","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12090624944763813296.mp4"}
+{"uid":"9182935797659184911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"1965258530046278630.mp4"}
+{"uid":"5881374324091371156","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":"9286450415177371042.mp4"}
+{"uid":"504831152088844268","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":"1445380132393708889.mp4"}
+{"uid":"4369667601930192563","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":"1640941493199319701.mp4"}
+{"uid":"9219611531328462933","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":"12711217221136195531.mp4"}
+{"uid":"5539632007438398689","text":"\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: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: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 all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the holder 2- put the pen in the holder 3- put the marker in the holder 4- put the pen in the holder 5- 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- put the pen in the holder 2- put the pen in the holder 3- put the pen in the holder 4- put the pen in the holder 5- put the pen in the holder 6- put the pen in the holder 7- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the marker in the holder\n\u003c/PRED\u003e","video":"14729973850549950656.mp4"}
+{"uid":"3520998997775966691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9243762843914019503.mp4"}
+{"uid":"489351079271809031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8118676481519638876.mp4"}
+{"uid":"9230390199743166359","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":"5251472613024537103.mp4"}
+{"uid":"2530510369182274172","text":"\u003ctask:success:discrete:False\u003e\nPut the 6 number object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 6 number object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box 8- Put the diamond shape object in the box 9- Put the triangle shape object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 6 number object in the box 2- move the box backward 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box 5- Put the 3 number object in the box 6- Put the 7 number object in the box 7- Put the heart shape object in the box 8- Put the diamond shape object in the box 9- Put the triangle shape object in the box Q: immediate next step? \u003cPRED\u003eA: Put the 6 number object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 6 number object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 6 number 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: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the 6 number object in the box\n\u003c/PRED\u003e","video":"5462780156224071153.mp4"}
+{"uid":"2023759370249890992","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":"10387000230709080712.mp4"}
+{"uid":"11103638319536593790","text":"\u003ctask:success:discrete:False\u003e\nPut the 3 number object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 3 number object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: Put the 3 number object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 3 number 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 3 number object in the box 2- Put the 7 number object in the box 3- Put the heart shape object in the box 4- Put the diamond shape object in the box 5- Put the triangle shape object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- Put the black object in the box 2- Put the 1 number object in the box 3- Put the square shape object in the box 4- Put the 8 number object in the box Q: immediate next step? \u003cPRED\u003eA: Put the 3 number object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 3 number object in the box\n\u003c/PRED\u003e","video":"14786915340874951076.mp4"}
+{"uid":"11276844103068253494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the basket 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":"11953958579941122424.mp4"}
+{"uid":"6202929632591870311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white paper into the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15117810526217420952.mp4"}
+{"uid":"14775952234662851863","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- Move bowl forward 3- pickup the apple 4- drop apple into bowl 5- pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16136921938941776204.mp4"}
+{"uid":"8006884529855491500","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the tray 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","video":"16396034548306158673.mp4"}
+{"uid":"14907064999506554919","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple 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":"14090244973270466497.mp4"}
+{"uid":"8155448069699470194","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move drawer forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move drawer forward 2- drop the apple into bowl 3- Move bowl forward 4- pickup the apple 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove drawer forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove drawer forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Move drawer forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move drawer forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move drawer forward\n\u003c/PRED\u003e","video":"8787973642169065747.mp4"}
+{"uid":"18269065653485854342","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":"2309371100549221531.mp4"}
+{"uid":"1588406738718432790","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- drop the apple into bowl 3- pickup the apple 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13223373757674758224.mp4"}
+{"uid":"18358171747698086875","text":"\u003ctask:success:discrete:False\u003e\nPut the apple in the tray 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the tray 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the tray from the drawer 2- drop the apple into bowl 3- drop the apple into bowl 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"13361825874180460888.mp4"}
+{"uid":"2542938791596890791","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the tray 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","video":"7548175799541239156.mp4"}
+{"uid":"2761386084393934066","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the apple 2- drop the apple into bowl 3- pickup the apple 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"16378470504401669238.mp4"}
+{"uid":"7230242047928456833","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 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","video":"15606953444822178953.mp4"}
+{"uid":"9228570448888958169","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the tray 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the tray 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the tray from the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"16958264621500399408.mp4"}
+{"uid":"12346619221298011129","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1609638342275208347.mp4"}
+{"uid":"16239359843089391572","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16902855898306963603.mp4"}
+{"uid":"6097558958148176140","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- drop the apple into bowl 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3372830191645545035.mp4"}
+{"uid":"12014878567009380867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10838888815398362352.mp4"}
+{"uid":"9429624699818817562","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull 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":"13097483813771617812.mp4"}
+{"uid":"11553383743942995524","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: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"17432157695748567071.mp4"}
+{"uid":"7112000089430933809","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":"1247375686917580352.mp4"}
+{"uid":"11661208204432361961","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":"14831425201712933585.mp4"}
+{"uid":"11898142540814942102","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"2271901434119581376.mp4"}
+{"uid":"12170536908536834740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the apple 2- drop apple into bowl 3- pickup the apple 4- drop the apple into bowl 5- pickup the apple\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"17513463534156440114.mp4"}
+{"uid":"9774504515422817155","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8784782440604917180.mp4"}
+{"uid":"17068283493011541263","text":"\u003ctask:success:discrete:True\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"11851880730554105901.mp4"}
+{"uid":"15364395823979306120","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"12052620917343902212.mp4"}
+{"uid":"3659558415283245549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2107604368520138089.mp4"}
+{"uid":"4417295821497234870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the steel glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9377968298468334768.mp4"}
+{"uid":"12468253350207880132","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the apple 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":"13838046927969713437.mp4"}
+{"uid":"8711968069162457506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13306274383239484417.mp4"}
+{"uid":"9049059556185988811","text":"\u003ctask:success:discrete:False\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple Q: immediate next step? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into bowl 2- pickup the apple 3- drop the apple into bowl 4- drop the apple into bowl 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18281348179519946992.mp4"}
+{"uid":"11441005517946104242","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- pickup the apple 3- drop the apple into bowl 4- drop the apple into bowl 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3961735676672864464.mp4"}
+{"uid":"868902513737474699","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 pick apples from the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- drop the apple into bowl 3- Move bowl forward 4- pickup the apple 5- drop apple into bowl\n\u003c/PRED\u003e","video":"5593223908762491589.mp4"}
+{"uid":"5304383959422510081","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"18054866736958641322.mp4"}
+{"uid":"16048486190835670416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6550003719689231502.mp4"}
+{"uid":"13486933088343376305","text":"\u003ctask:success:discrete:False\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- drop the apple into bowl 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4286493228694542372.mp4"}
+{"uid":"14577572148144578000","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":"9519786417984554575.mp4"}
+{"uid":"7135625684403064076","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":"16991858178495421155.mp4"}
+{"uid":"16553551971587005132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the kettle 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":"2498266788069667449.mp4"}
+{"uid":"14218965618175738626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a 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":"17161650899402018284.mp4"}
+{"uid":"9112190859786888346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tape 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":"11697868285744313286.mp4"}
+{"uid":"12694100768349486478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3439761741791590831.mp4"}
+{"uid":"10263504335030787069","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into bowl\n\u003c/PRED\u003e","video":"1552724476355098075.mp4"}
+{"uid":"14544958969196722251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut belt 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":"16089300704415220353.mp4"}
+{"uid":"3881720628118868651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15487957053874781239.mp4"}
+{"uid":"10870560241611354183","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"3834832024553792134.mp4"}
+{"uid":"2625905702509509566","text":"\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 12- Close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 12- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1385115113430439554.mp4"}
+{"uid":"4125789175961727244","text":"\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"6526944183595208887.mp4"}
+{"uid":"3964016768382322020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black 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":"1227889409217338442.mp4"}
+{"uid":"1110306358677130535","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":"6869567448496776848.mp4"}
+{"uid":"17924305082712161225","text":"\u003ctask:success:discrete:True\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"17746123280458009109.mp4"}
+{"uid":"2609448643278623211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar 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":"11304044064274289754.mp4"}
+{"uid":"9439540146189089173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar sachets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3574495361207390651.mp4"}
+{"uid":"3269637612417210276","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"4374479880741543407.mp4"}
+{"uid":"3592034692539256372","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the tray 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: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the tray from the drawer 2- Move bowl forward 3- pickup the apple 4- drop apple into bowl 5- pickup the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the tray 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":"4388906039617099959.mp4"}
+{"uid":"17423519710579594638","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the apple 2- drop the apple into bowl 3- drop the apple into bowl 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12490101813765513086.mp4"}
+{"uid":"5366061864028380831","text":"\u003ctask:success:discrete:False\u003e\nPut the apple in the tray 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the tray from the drawer 2- drop the apple into bowl 3- pickup the apple 4- drop the apple into bowl 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the tray 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e","video":"17050501384605515197.mp4"}
+{"uid":"6653683355016886517","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- pickup the apple 3- drop apple into bowl 4- pickup the apple 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2893742909507923065.mp4"}
+{"uid":"9816710105953308250","text":"\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7996400894301354856.mp4"}
+{"uid":"12332873635936603803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"16234761180705881271.mp4"}
+{"uid":"296882444744091680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove above the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4377705307477971824.mp4"}
+{"uid":"11175533741679333363","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":"9515011043293868689.mp4"}
+{"uid":"12857653717957296031","text":"\u003ctask:success:discrete:True\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"6735298281725395189.mp4"}
+{"uid":"11403435635725159477","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the apple 2- drop the apple into bowl 3- Move bowl forward 4- pickup the apple 5- drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: pickup the apple\n\u003c/PRED\u003e","video":"852456154135177476.mp4"}
+{"uid":"15678413325671586082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"2017468827913569076.mp4"}
+{"uid":"4739819923254750224","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 12- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 12- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5959127958332485679.mp4"}
+{"uid":"12542594188317759039","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the tray 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the tray from the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the tray 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the tray from the drawer\n\u003c/PRED\u003e","video":"13818312489822695455.mp4"}
+{"uid":"10451471757913923666","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move bowl forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Move bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move bowl forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Move bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove bowl forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove bowl forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move bowl forward 2- pickup the apple 3- drop apple into bowl 4- pickup the apple 5- drop the apple into bowl\n\u003c/PRED\u003e","video":"15461653484550293075.mp4"}
+{"uid":"13559928333597359479","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the tray 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: Put the apple in the tray from the drawer\n\u003c/PRED\u003e","video":"9297867276832399021.mp4"}
+{"uid":"11290599601080106474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace brush in top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10807510746146792958.mp4"}
+{"uid":"4334880006799983389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the left door of 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":"7270536886613135109.mp4"}
+{"uid":"14438989764875271970","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 12- Close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple 6- drop apple into bowl 7- pickup the apple 8- drop the apple into bowl 9- pickup the apple 10- drop the apple into bowl 11- drop the apple into bowl 12- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10761292408925905006.mp4"}
+{"uid":"18097299142785023592","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bowl forward 2- pickup the apple 3- drop apple into bowl 4- pickup the apple 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl Q: immediate next step? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the bowl forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bowl forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e","video":"6988684675319391525.mp4"}
+{"uid":"14308560829725560097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown object in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14730847092137112143.mp4"}
+{"uid":"5224083509079690134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15193013747167135916.mp4"}
+{"uid":"17820854305190343819","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into bowl 2- pickup the apple 3- drop the apple into bowl 4- pickup the apple 5- drop the apple into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl. last 20 steps: 1- pull the drawer 2- pickup the apple 3- drop the apple into bowl 4- Move bowl forward 5- pickup the apple Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick apples from the drawer and place them into the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple into bowl\n\u003c/PRED\u003e","video":"978872973346976720.mp4"}
+{"uid":"8259175913672160471","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7466543225807382468.mp4"}
+{"uid":"6220799281870561823","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the tray 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: Put the apple in the tray from the drawer\n\u003c/PRED\u003e","video":"9561666409209682414.mp4"}
+{"uid":"18241503082517710506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a stikcy notes 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":"5979015408332427483.mp4"}
+{"uid":"12300399019387124146","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the tray 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: Put the apple in the tray from the drawer\n\u003c/PRED\u003e","video":"12155424093037378813.mp4"}
+{"uid":"9159385415960560153","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour chick peas into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7512531833289014651.mp4"}
+{"uid":"17048060341029974433","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput nuts in small cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput nuts in small cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- put nuts in small cup 2- put banana on the table 3- Place the banana to right side of the paper cup 4- take out a tissue paper 5- 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 nuts in small cup\n\u003c/PRED\u003e","video":"13018863451955835877.mp4"}
+{"uid":"13712211761099368318","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e","video":"18302474233465389350.mp4"}
+{"uid":"1361755874713557354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  pink cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7011711697882595526.mp4"}
+{"uid":"16541149121438774897","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup Q: immediate next step? \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: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\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:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue on the table 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e","video":"14318461886939849839.mp4"}
+{"uid":"1121644266894460558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab  the bottom marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8270676083951727155.mp4"}
+{"uid":"14285801896533295960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"11036202604563318126.mp4"}
+{"uid":"15382605165346699261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"971054420637726568.mp4"}
+{"uid":"6511978410050665838","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":"153529311046520103.mp4"}
+{"uid":"1009732879033906516","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon 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:discriminative:discrete:True\u003e\nput spoon 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":"6736197617137603432.mp4"}
+{"uid":"6444839621342375902","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep the bowl upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12620595419031017053.mp4"}
+{"uid":"14540291707819080361","text":"\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- Place the banana to right side of the paper cup 3- take out a tissue paper 4- put tissue on the table 5- put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"18086055488382864534.mp4"}
+{"uid":"16206504311192201044","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the black pepper into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Pour the black pepper into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the black pepper into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the black pepper into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the black pepper into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: Pour the black pepper into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the black pepper into the cup 2- put banana on the table 3- Place the banana to right side of the paper cup 4- take out a tissue paper 5- put tissue on the table\n\u003c/PRED\u003e","video":"13871000301037369009.mp4"}
+{"uid":"17965835515113739656","text":"\u003ctask:success:discrete:False\u003e\nPlace the coffee cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coffee cup on the table 2- put banana on the table 3- Place the banana to right side of the paper cup 4- take out a tissue paper 5- put tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e","video":"4745014666644568336.mp4"}
+{"uid":"2362272464405669882","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on table 2- Place the banana to right side of the paper cup 3- take out a tissue paper 4- put tissue on the table 5- put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15817549453389537063.mp4"}
+{"uid":"2973580077038679614","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- pour chick peas into the bowl 2- put glass on the table 3- put banana on the table 4- Place the banana to right side of the paper cup 5- take out a tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour chick peas into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour chick peas into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e","video":"3612595365525489866.mp4"}
+{"uid":"11012196902478499765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put nuts in small cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput nuts in small cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"322077401888147758.mp4"}
+{"uid":"10651345116582892763","text":"\u003ctask:success:discrete:True\u003e\nput spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table 8- put spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table 8- put spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1929435042284192075.mp4"}
+{"uid":"1847773702207585908","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: immediate next step? \u003cPRED\u003eA: Pickup the coffee cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Pickup the coffee cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the coffee cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the coffee cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the coffee cup 2- put glass on the table 3- put banana on the table 4- Place the banana to right side of the paper cup 5- take out a tissue paper\n\u003c/PRED\u003e","video":"5017963169638500267.mp4"}
+{"uid":"5872691189431799741","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Place the banana to right side of the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move banana to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move banana to the left 2- take out a tissue paper 3- put tissue on the table 4- put spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana to right side of the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move banana to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove banana 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:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: move banana to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana to right side of the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana to right side of the paper cup 2- take out a tissue paper 3- put tissue on the table 4- put spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana to right side of the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove banana 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: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: move banana to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana to right side of the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: Place the banana to right side of the paper cup\n\u003c/PRED\u003e","video":"124123526408043684.mp4"}
+{"uid":"9774321872056278889","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e","video":"13372663933395434966.mp4"}
+{"uid":"18094365916910607633","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":"695109061587491742.mp4"}
+{"uid":"10707162775052744153","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":"17026523266914564662.mp4"}
+{"uid":"10217597792967537340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10935306080893708147.mp4"}
+{"uid":"6646283858150584817","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":"16939703418233790276.mp4"}
+{"uid":"10502082840964392128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15164972552894422616.mp4"}
+{"uid":"6930809875352078849","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper cup on upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper cup on upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper cup on upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper cup on upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the paper cup on upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Place the paper cup on upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper cup on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3762234675761495177.mp4"}
+{"uid":"5966666365428223985","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table Q: immediate next step? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13660666967888719582.mp4"}
+{"uid":"2092054687666607647","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":"17376091076524829897.mp4"}
+{"uid":"7207093177187097192","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- put banana on the table 3- Place the banana to right side of the paper cup 4- take out a tissue paper 5- put tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: put glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e","video":"14718750175755110475.mp4"}
+{"uid":"13214914916112766639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10727684688348930851.mp4"}
+{"uid":"6360097801787764078","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":"17099355054521426835.mp4"}
+{"uid":"6859993001447433213","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":"9874982613973719878.mp4"}
+{"uid":"15815084773363202104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3326523143029636413.mp4"}
+{"uid":"9030890514234539216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on table 2- take out a tissue paper 3- put tissue on the table 4- put spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e","video":"11389069352298790831.mp4"}
+{"uid":"10429561026613750635","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on table 2- put spoon in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"572778077490809197.mp4"}
+{"uid":"10212434916030536686","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- take out a tissue paper 2- put tissue on the table 3- put spoon in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup Q: immediate next step? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out a 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":"17183606888635896841.mp4"}
+{"uid":"6272944996561147704","text":"\u003ctask:success:discrete:True\u003e\nput small cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put small cup upright\n\u003c/PRED\u003e","video":"4561993261152507895.mp4"}
+{"uid":"18312028674046742233","text":"\u003ctask:success:discrete:True\u003e\nput banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e","video":"80305600111027957.mp4"}
+{"uid":"10549447266951810512","text":"\u003ctask:success:discrete:False\u003e\nput small cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput small cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put small cup upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put small cup upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put small cup upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put small cup upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: put small cup upright\n\u003c/PRED\u003e","video":"15505277239469746345.mp4"}
+{"uid":"2272178002600763940","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the bowl upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the bowl upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e","video":"7690490248386489758.mp4"}
+{"uid":"6150278126161981855","text":"\u003ctask:success:discrete:True\u003e\nPlace the paper cup on upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper cup on upright\n\u003c/PRED\u003e","video":"15662642438023558676.mp4"}
+{"uid":"10507894401741220401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18238689010242236741.mp4"}
+{"uid":"12719188561865367927","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":"13469034300540376177.mp4"}
+{"uid":"18376648256116754559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pebble in the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9634311645745780395.mp4"}
+{"uid":"11147301158067409212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup beside 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":"17575167855544694291.mp4"}
+{"uid":"5222721654333891457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npickup two pink candy and put 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":"10567619972496314366.mp4"}
+{"uid":"6956911096641191883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput nuts in small 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":"13860395482192403257.mp4"}
+{"uid":"14149614910441332708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on left side of 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":"9028388783342188373.mp4"}
+{"uid":"2156279438519824486","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me a bowl of cereal than grab me a napkin, a spoon, and a banana. last 20 steps: 1- keep the bowl upright 2- pour chick peas into the bowl 3- put glass on the table 4- put banana on the table 5- Place the banana to right side of the paper cup 6- take out a tissue paper 7- put tissue on the table Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e","video":"12293881804903758419.mp4"}
+{"uid":"13899867024345499659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the plastic 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":"4317889594269868923.mp4"}
+{"uid":"13039827724509755248","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon into the paper bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: put the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon into the paper bowl\n\u003c/PRED\u003e","video":"12316041366521977105.mp4"}
+{"uid":"8759133039102086519","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl Q: immediate next step? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the paper glass 2- put the stick into the glass 3- Drop spoon in a cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e","video":"4837956955384659048.mp4"}
+{"uid":"18112789809280627062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5664074791266102156.mp4"}
+{"uid":"15208613939522531593","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5652847113047920934.mp4"}
+{"uid":"7184568217145723774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- Drop spoon in a cup 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: unstack the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1048633007732408690.mp4"}
+{"uid":"270076185008323988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack glasses on existing stack 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":"7960295947561423676.mp4"}
+{"uid":"4286576506593837789","text":"\u003ctask:success:discrete:True\u003e\nput the stick 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 stick into the glass\n\u003c/PRED\u003e","video":"15427081040539222110.mp4"}
+{"uid":"17901151570267088680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue kettle packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7354524638498798557.mp4"}
+{"uid":"15535690318515747522","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":"13502577286218675701.mp4"}
+{"uid":"9404325552660676665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15776084714243747373.mp4"}
+{"uid":"17322307167938057269","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":"17654222327494164449.mp4"}
+{"uid":"2804445751726274899","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":"1744526729501200250.mp4"}
+{"uid":"2040398134811427038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the push pins 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":"1014016838815217580.mp4"}
+{"uid":"10396646498784876864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"9025761400445525657.mp4"}
+{"uid":"3190911474662242902","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":"5198249137437747128.mp4"}
+{"uid":"8668293334404884237","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop spoon in a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: Drop spoon in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop spoon in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass Q: immediate next step? \u003cPRED\u003eA: Drop spoon in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop spoon in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop spoon in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop spoon in a cup 2- done\n\u003c/PRED\u003e","video":"7176632527185245401.mp4"}
+{"uid":"10392817636445686639","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"15611048532498373723.mp4"}
+{"uid":"15858665341425982396","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":"13501737134031831278.mp4"}
+{"uid":"2561742216198414730","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- Drop spoon in a cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop spoon in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop spoon in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- Drop spoon in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10235847809681525376.mp4"}
+{"uid":"3305164397179484782","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- unstack the paper glass 3- put the stick into the glass 4- Drop spoon in a cup 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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","video":"5257438080687681422.mp4"}
+{"uid":"11572591413551566428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11570736078925964227.mp4"}
+{"uid":"10430173976725902201","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stick into the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: put the stick into the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass Q: immediate next step? \u003cPRED\u003eA: put the stick into the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stick into the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the stick 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: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the stick into the glass 2- Drop spoon in a cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the stick 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":"13157010197071573815.mp4"}
+{"uid":"3413563787862204594","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place a cup on the table 2- unstack the paper glass 3- put the stick into the glass 4- Drop spoon in a cup 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a 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:success:discrete:False\u003e\nPlace a cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e","video":"15152301220653383902.mp4"}
+{"uid":"6513282235025649263","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- put the spoon into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- put the spoon into the paper bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14110681638243300016.mp4"}
+{"uid":"2704710119716704429","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13627141564716810811.mp4"}
+{"uid":"5506888176582102871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove ahead in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9274680657139819415.mp4"}
+{"uid":"9939569347204040172","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- done\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:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16736783437294465604.mp4"}
+{"uid":"13733275251812129722","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":"11408190577611956249.mp4"}
+{"uid":"11036901261281192127","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"97049598922067192.mp4"}
+{"uid":"18234040542516102502","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table 8- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table 7- put apple on the table 8- put pear 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 pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8701105382176209205.mp4"}
+{"uid":"16262112189700646089","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put coffee mixing stick in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput coffee mixing stick 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:discriminative:discrete:True\u003e\nput coffee mixing stick 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:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: put coffee mixing stick in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- put coffee mixing stick in cup 2- Drop spoon in a cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass Q: immediate next step? \u003cPRED\u003eA: put coffee mixing stick in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put coffee mixing stick in cup\n\u003c/PRED\u003e","video":"3945545071682277558.mp4"}
+{"uid":"16114221819960315428","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table 6- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"13982892477604088146.mp4"}
+{"uid":"9721070389551809706","text":"\u003ctask:success:discrete:False\u003e\nDrop stick in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass Q: immediate next step? \u003cPRED\u003eA: Drop stick in a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: Drop stick in a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop stick in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop stick in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop stick in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop stick in a cup 2- Drop spoon in a cup 3- done\n\u003c/PRED\u003e","video":"4976556621396210064.mp4"}
+{"uid":"16186417403397662488","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- put spoon in cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass 4- put spoon in cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon 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:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e","video":"9723737406071757706.mp4"}
+{"uid":"17666858965993441283","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: none 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:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9587949359200377879.mp4"}
+{"uid":"11678354763126713736","text":"\u003ctask:success:discrete:True\u003e\nunstack the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the paper bowl\n\u003c/PRED\u003e","video":"6048613287666831803.mp4"}
+{"uid":"9857435304074561692","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a 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 a 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: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place a cup on the table 2- put the stick into the glass 3- Drop spoon in a cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl Q: immediate next step? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: Place a cup on the table\n\u003c/PRED\u003e","video":"15436001238351371550.mp4"}
+{"uid":"5160667648272705240","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in cup 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl 2- unstack the paper glass 3- put the stick into the glass Q: immediate next step? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon 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: put spoon in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: put spoon in cup\n\u003c/PRED\u003e","video":"18273693456171171464.mp4"}
+{"uid":"11528183180017191632","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9416946503232000783.mp4"}
+{"uid":"9413843211723720194","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":"3190981797818428110.mp4"}
+{"uid":"8932450451820413232","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"12056175602809392837.mp4"}
+{"uid":"13141077917951525963","text":"\u003ctask:success:discrete:True\u003e\nunstack the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e","video":"10578812965046419413.mp4"}
+{"uid":"8007414491910245198","text":"\u003ctask:success:discrete:True\u003e\nput 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: put cup on the table\n\u003c/PRED\u003e","video":"14103066902285033426.mp4"}
+{"uid":"448968979880283004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"7945963654625206415.mp4"}
+{"uid":"6245367420860881552","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"10767042943178527346.mp4"}
+{"uid":"12027309963809160910","text":"\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"9028150877092799272.mp4"}
+{"uid":"16112905434326030141","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3241198764565723967.mp4"}
+{"uid":"10908199241763108275","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":"13378084935891916961.mp4"}
+{"uid":"13366870811781599476","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":"4813850027624637215.mp4"}
+{"uid":"6680577008717546785","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put coffee mixing stick in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput coffee mixing stick 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","video":"1604117106996645514.mp4"}
+{"uid":"15137277353974159493","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":"15434011946528351443.mp4"}
+{"uid":"4758667403629005291","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. last 20 steps: 1- unstack the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- put the stick into the glass 3- Drop spoon in a cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a spoon into a bowl and atleast 1 coffee stirrer into a cup. Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16054867063473869970.mp4"}
+{"uid":"14537386915121717239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12928279404991904483.mp4"}
+{"uid":"11839850788318736137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6235924876464417346.mp4"}
+{"uid":"9847101672698526154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack 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":"6853593692637526221.mp4"}
+{"uid":"7322449171476721935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6604824722658851151.mp4"}
+{"uid":"15400459591925581147","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"11878681765481642107.mp4"}
+{"uid":"3441611435894851825","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cups 3- stack up the cup 4- Pick the cup from the table 5- Place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"12579513772547872837.mp4"}
+{"uid":"17197354008491506458","text":"\u003ctask:success:discrete:True\u003e\nPick the cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the cup from the table\n\u003c/PRED\u003e","video":"16165993524327556411.mp4"}
+{"uid":"1394469187842595494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9899498160015083506.mp4"}
+{"uid":"5211163459006680073","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator 7- pick up hint bottle 8- exit the room 9- place hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator 7- pick up hint bottle 8- exit the room 9- place hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"40725407162632363.mp4"}
+{"uid":"5603044265280809202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"9764921754728379496.mp4"}
+{"uid":"3445617817781286857","text":"\u003ctask:success:discrete:False\u003e\nPlace the cups stack on the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup Q: immediate next step? \u003cPRED\u003eA: Place the cups stack on the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cups stack on the cup 2- stack up the cup 3- Pick the cup from the table 4- Place the cup on the table 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cups stack on the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cups stack on the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cups stack on the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cups stack on the cup\n\u003c/PRED\u003e","video":"10638701203049406610.mp4"}
+{"uid":"12212520549570983635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the can in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9343703072932121516.mp4"}
+{"uid":"3470684564693624416","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cup 3- Pick the cup from the table 4- Place the cup on the table 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"7192427639580639873.mp4"}
+{"uid":"17854771490433426065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange in empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3747542303365254420.mp4"}
+{"uid":"5407159852449638343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to 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":"15362873557948465416.mp4"}
+{"uid":"16168380580546438794","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":"13648493764086893316.mp4"}
+{"uid":"4035996937521488192","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- adjust the basket 4- done\n\u003c/PRED\u003e","video":"17882468298350094119.mp4"}
+{"uid":"3359120488328763118","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup 11- Place the cup on the cups stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup 11- Place the cup on the cups stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7661175166313138324.mp4"}
+{"uid":"12758875916374134123","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- Pick the cup from the table 3- Place the cup on the table 4- stack up the cup 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"12992973163835663628.mp4"}
+{"uid":"5519086848580381848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"4357370282212792510.mp4"}
+{"uid":"13147386494162435589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11035591650952892229.mp4"}
+{"uid":"11744417446998352737","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- stack up the cup 3- stack up the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"1564856330651470460.mp4"}
+{"uid":"15780173692516725924","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"2146139053190333661.mp4"}
+{"uid":"3945881976431535261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer with the tong Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10064121111994396122.mp4"}
+{"uid":"18069565721749301285","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- stack up the cup 3- Pick the cup from the table 4- Place the cup on the table 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18244598632126366096.mp4"}
+{"uid":"16910561046977408115","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2456686194019674618.mp4"}
+{"uid":"7750730325621327944","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the right door of refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the right door of refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: open the right door of refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the right door of refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the right door of refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the right door of refrigerator 2- pick up hint bottle 3- exit the room 4- place hint bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: open the right door of refrigerator\n\u003c/PRED\u003e","video":"17102384857931756780.mp4"}
+{"uid":"2191780358007278826","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- stack up the cup 3- stack up the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"6208735091249794097.mp4"}
+{"uid":"2394657616600978903","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- Pick the cup from the table 3- Place the cup on the table 4- stack up the cup 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"5343916961639488739.mp4"}
+{"uid":"15210697932683500634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3250373140687597953.mp4"}
+{"uid":"1947014814125528268","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- adjust the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"11422756442444843905.mp4"}
+{"uid":"13830356217603384745","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":"15896521165997907193.mp4"}
+{"uid":"2506172701073145576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14948525025048462503.mp4"}
+{"uid":"7034821841020328727","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the right door of refrigerator 3- pick up hint bottle 4- exit the room 5- place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk 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:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3319725554155388405.mp4"}
+{"uid":"17169904739003833162","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- Pick the cup from the table 3- Place the cup on the table 4- stack up the cup 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e","video":"6725043987053936409.mp4"}
+{"uid":"9852396960557261821","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- stack up the cup 3- stack up the cup 4- done\n\u003c/PRED\u003e","video":"2256094035136322617.mp4"}
+{"uid":"17373823608957125999","text":"\u003ctask:success:discrete:True\u003e\nPlace the cups stack on the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cups stack on the cup\n\u003c/PRED\u003e","video":"7135432897951644085.mp4"}
+{"uid":"17713162839421946195","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2013022111836747516.mp4"}
+{"uid":"12970114881182342714","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17083742338942182765.mp4"}
+{"uid":"12891397674735327532","text":"\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"9069161760308330795.mp4"}
+{"uid":"15830653943940244686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"534390958384193016.mp4"}
+{"uid":"1914208370531230294","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator 7- pick up hint bottle 8- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- place hint bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator 7- pick up hint bottle 8- exit the room Q: immediate next step? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place hint bottle on the table\n\u003c/PRED\u003e","video":"969385326603413286.mp4"}
+{"uid":"14672994202666424","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":"12017801104753466343.mp4"}
+{"uid":"15444583627187416582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white 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":"2345352903109527459.mp4"}
+{"uid":"16631712585869775006","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the other cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cup on the other cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the other cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the other 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: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the other cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the other cup\n\u003c/PRED\u003e","video":"14744145342781303446.mp4"}
+{"uid":"12421221154727084918","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2751925684398715995.mp4"}
+{"uid":"12371708805327489851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the bag 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":"3057184461130369188.mp4"}
+{"uid":"13004026585714287183","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup 11- stack up the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup 11- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6435766312053525999.mp4"}
+{"uid":"3791530453506807858","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e","video":"11742523863735133132.mp4"}
+{"uid":"9116950916910638962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5834382864438002806.mp4"}
+{"uid":"589426852748308519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apples 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":"16659348606649235800.mp4"}
+{"uid":"13655657075015420727","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator 7- pick up hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- place hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator 7- pick up hint bottle Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"7102944043350504434.mp4"}
+{"uid":"9671297976483704021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"2982245066199578123.mp4"}
+{"uid":"7546110336927757177","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the cup from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Pick the cup from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup Q: immediate next step? \u003cPRED\u003eA: Pick the cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the cup from the table 2- Place the cup on the table 3- stack up the cup 4- stack up the cup 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the cup from the table\n\u003c/PRED\u003e","video":"7136045893293837412.mp4"}
+{"uid":"16242321000553523459","text":"\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- adjust the basket\n\u003c/PRED\u003e","video":"6191558352410683713.mp4"}
+{"uid":"5602643810679877145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the book 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":"1692738380836361443.mp4"}
+{"uid":"12235261229758587442","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2487959959629724917.mp4"}
+{"uid":"17435615864972234957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut two yellow chits 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":"6629729651415474081.mp4"}
+{"uid":"17533215312591541420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green glass from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10037379669591383355.mp4"}
+{"uid":"3907746464758825696","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"156403469376512692.mp4"}
+{"uid":"2469198524166689949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a banana in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14716137963027373705.mp4"}
+{"uid":"4721448341170437815","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"12812702948355855103.mp4"}
+{"uid":"6213836735414393163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7549335646149025262.mp4"}
+{"uid":"4591917860444060430","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- stack up the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e","video":"10816563215693240480.mp4"}
+{"uid":"13510836513961295543","text":"\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: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the popcorn packet in drawer 3- close the drawer 4- open the right door of refrigerator 5- pick up hint bottle\n\u003c/PRED\u003e","video":"10175261988242780748.mp4"}
+{"uid":"72200140236619035","text":"\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"8594868262628934276.mp4"}
+{"uid":"4220169851027202208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7673135476571211826.mp4"}
+{"uid":"14429261836084008366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3446547575053738045.mp4"}
+{"uid":"3030720192810601089","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- Place the cup on the cups stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- Place the cup on the cups stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13907997843564368774.mp4"}
+{"uid":"14522354341399484318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cups 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":"6434183564428117528.mp4"}
+{"uid":"2082064698574263679","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":"13243793516726730295.mp4"}
+{"uid":"1269833617995805610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left 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":"7263003001213828814.mp4"}
+{"uid":"2837612271990585184","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the table 2- stack up the cup 3- stack up the cup 4- stack up the cup 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15738223128141186100.mp4"}
+{"uid":"16010492865141677366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1483922370156251916.mp4"}
+{"uid":"4735597294161635825","text":"\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"1122202307284094394.mp4"}
+{"uid":"7131640110635214019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6892693708404872051.mp4"}
+{"uid":"6652183105275917349","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cups 3- stack up the cup 4- Pick the cup from the table 5- Place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"4594740037767557053.mp4"}
+{"uid":"10848316843933640593","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":"3362302598174879423.mp4"}
+{"uid":"8992517819913957934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen 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":"2322924676125725586.mp4"}
+{"uid":"14109991810793564448","text":"\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- open the drawer 3- place the popcorn packet in drawer 4- close the drawer 5- open the right door of refrigerator\n\u003c/PRED\u003e","video":"5869546837894847796.mp4"}
+{"uid":"770578688437057640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bag from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13431813971159836391.mp4"}
+{"uid":"3548077829159936534","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- stack up the cup 3- stack up the cups 4- stack up the cup 5- Pick the cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up 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: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9399122952227232215.mp4"}
+{"uid":"15751197046429363359","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"11930835997864967623.mp4"}
+{"uid":"9273459114726286385","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- stack up the cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"6089447391622312849.mp4"}
+{"uid":"7679760808041152397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7402311343337800665.mp4"}
+{"uid":"2384078423702033484","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17095140355421229335.mp4"}
+{"uid":"5102290472062241092","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the other cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the other cup\n\u003c/PRED\u003e","video":"6066995508035265754.mp4"}
+{"uid":"13428428110312005804","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cup 3- stack up the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"4303610664286101768.mp4"}
+{"uid":"1060283316083206937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2640495914525773902.mp4"}
+{"uid":"1539192889285735259","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the popcorn packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: place the popcorn packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the popcorn packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the popcorn packet in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the popcorn packet in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the popcorn packet in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the popcorn packet in drawer 2- close the drawer 3- open the right door of refrigerator 4- pick up hint bottle 5- exit the room\n\u003c/PRED\u003e","video":"11585750779196604856.mp4"}
+{"uid":"5675973838399832972","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10791366539384682908.mp4"}
+{"uid":"6092405111273231319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7243810178101125970.mp4"}
+{"uid":"12361099847409835894","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- stack up the cups 3- stack up the cup 4- Pick the cup from the table 5- Place the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"15942375157304775913.mp4"}
+{"uid":"12569711341764467752","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e","video":"5236465695600510964.mp4"}
+{"uid":"17877807344349184664","text":"\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"7893996917114471190.mp4"}
+{"uid":"15901395290988130856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop paper in an organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3686318336177165836.mp4"}
+{"uid":"5132945256503960655","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"14606394980184755171.mp4"}
+{"uid":"5755362653952232928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"2509114665047763180.mp4"}
+{"uid":"16690658836523179118","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e","video":"11969768146825870262.mp4"}
+{"uid":"4651413044019870554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16591802692829502856.mp4"}
+{"uid":"3309435374176811790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spoons 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":"5743094278952792691.mp4"}
+{"uid":"18295975402931429403","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4701283032590669552.mp4"}
+{"uid":"13703894236520604068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12936005570587805810.mp4"}
+{"uid":"7893583908821844242","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"5244945518717996136.mp4"}
+{"uid":"14503328940725581626","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- pick up hint bottle 2- exit the room 3- place hint bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk . last 20 steps: 1- pick up popcorn packet 2- enter the room 3- open the drawer 4- place the popcorn packet in drawer 5- close the drawer 6- open the right door of refrigerator Q: immediate next step? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am not hungry anymore can you take the popcorn chips back to the MK kitchen and while coming back bring me some hint watermelon from fridge to my desk Q: immediate next step? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the right door of refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the right door of refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1081461245884143888.mp4"}
+{"uid":"16528107864602137342","text":"\u003ctask:success:discrete:True\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"7424985321902254221.mp4"}
+{"uid":"11939715900167908437","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":"16803387150663794396.mp4"}
+{"uid":"2220545170563099439","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":"16143083183329279575.mp4"}
+{"uid":"15740027200973873348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6255274718515033755.mp4"}
+{"uid":"17398325476034742857","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the basket 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl 6- place the apple in the bowl 7- place the apple in the bowl 8- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the basket\n\u003c/PRED\u003e","video":"1421225779218981882.mp4"}
+{"uid":"12018928775067488636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15559377838281011505.mp4"}
+{"uid":"8725841645281925868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"8982071373085246107.mp4"}
+{"uid":"7933781666608729067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the white pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3654530840615254466.mp4"}
+{"uid":"4293719256093189234","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup 11- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup 11- stack the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"2351612968026348589.mp4"}
+{"uid":"15960210742383617575","text":"\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"10956043340766655423.mp4"}
+{"uid":"5738339717283675788","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":"7709720682405679700.mp4"}
+{"uid":"10315011228999344775","text":"\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"11664827765391186915.mp4"}
+{"uid":"16784046511146073129","text":"\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"7791583461206387595.mp4"}
+{"uid":"2079655129051584543","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"8170357429584129097.mp4"}
+{"uid":"15390910256643604081","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup 9- stack up the cup 10- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"10534189297093070369.mp4"}
+{"uid":"15396094185540755403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14011277691298093510.mp4"}
+{"uid":"15186582450900827714","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack up the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack up the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack up the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack up the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack up the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack up the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack up the cups 2- stack up the cup 3- Pick the cup from the table 4- Place the cup on the table 5- stack up the cup\n\u003c/PRED\u003e","video":"3737032322406275685.mp4"}
+{"uid":"7386161685835757040","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup Q: immediate next step? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the cups stack 2- stack up the cups 3- stack up the cup 4- Pick the cup from the table 5- Place the cup on the table\n\u003c/PRED\u003e","video":"7031115890727144819.mp4"}
+{"uid":"7867914905909232431","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"11649382739870222242.mp4"}
+{"uid":"12404943726571324729","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":"5861107950075974966.mp4"}
+{"uid":"16511804599277739698","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e","video":"516689941977597945.mp4"}
+{"uid":"9204558696121559179","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please gently place all the apples neatly into the bowl. last 20 steps: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- place the apple in the bowl 5- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the apple in the bowl 3- place the apple in the bowl 4- adjust the basket 5- done\n\u003c/PRED\u003e","video":"12264970303981691845.mp4"}
+{"uid":"17295918759566965222","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the cups stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the cups stack\n\u003c/PRED\u003e","video":"18445125254131433189.mp4"}
+{"uid":"5041105764242375919","text":"\u003ctask:success:discrete:True\u003e\nstack up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack up the cup\n\u003c/PRED\u003e","video":"1333269369147406376.mp4"}
+{"uid":"11454414644259655059","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- Place the cup on the other cup 2- stack up the cup 3- stack up the cup 4- stack up the cups 5- stack up the cup 6- Pick the cup from the table 7- Place the cup on the table 8- stack up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack up the cup 3- stack up the cup 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"12054882753302136954.mp4"}
+{"uid":"8029890813174085365","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":"17717942676400184201.mp4"}
+{"uid":"8286877559598302576","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e","video":"1791607105536571270.mp4"}
+{"uid":"12028354534264673137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14642961810101466356.mp4"}
+{"uid":"17798638002357519865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4415535836239397692.mp4"}
+{"uid":"10512700361796115706","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife Q: immediate next step? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife Q: next 5 steps? \u003cPRED\u003eA: 1- pickup knife 2- put knife in left cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e","video":"2977138221258481022.mp4"}
+{"uid":"15685306371915188324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"4693857041427124816.mp4"}
+{"uid":"15738072428532522522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble 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":"16881857058117231654.mp4"}
+{"uid":"1264196985757198108","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the knife into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4236032355004185163.mp4"}
+{"uid":"18233172575764785311","text":"\u003ctask:success:discrete:True\u003e\nput knife in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass 6- put knife in left cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives 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 knife in left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass 6- put knife in left cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9621385837672765649.mp4"}
+{"uid":"14583084046004961231","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife 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":"17825866442176480857.mp4"}
+{"uid":"12402040886361645844","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in left cup 2- put knife in left cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife Q: immediate next step? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e","video":"3958583517754827123.mp4"}
+{"uid":"18087974635974074280","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the blue packet on the table 4- Put the blue packets on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e","video":"3286497510934122272.mp4"}
+{"uid":"3576339739563341283","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into stand 2- drop the knife into stand 3- pickup knife 4- put the knife in the glass 5- put knife in left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife Q: immediate next step? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife 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","video":"8274211402703028559.mp4"}
+{"uid":"10389777993858657777","text":"\u003ctask:success:discrete:True\u003e\nput the knife 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: put the knife in the glass\n\u003c/PRED\u003e","video":"11045231978552525382.mp4"}
+{"uid":"16930478169507975060","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":"13604949703343085405.mp4"}
+{"uid":"9556763444214850036","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the glass 2- drop the knife into stand 3- pickup knife 4- put the knife in the glass 5- put knife in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e","video":"7819988894918550472.mp4"}
+{"uid":"4864257964960186752","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand Q: immediate next step? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in left cup 2- put the knife in the glass 3- put knife in left cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e","video":"6728896737176885583.mp4"}
+{"uid":"956167669104069241","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":"10677280057550087056.mp4"}
+{"uid":"8325137301689226076","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput knife in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9272635984002793532.mp4"}
+{"uid":"11063931624425195513","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand Q: next 5 steps? \u003cPRED\u003eA: 1- pickup knife 2- put the knife in the glass 3- put knife in left cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand Q: immediate next step? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup knife\n\u003c/PRED\u003e","video":"807169955088744283.mp4"}
+{"uid":"16029841646042776930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12940781372066467368.mp4"}
+{"uid":"8213217575640315","text":"\u003ctask:success:discrete:False\u003e\nPut the red packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table 11- Put the red packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red 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: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table 11- Put the red packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- done\n\u003c/PRED\u003e","video":"6106711798377484160.mp4"}
+{"uid":"6016894654682746062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet 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":"8499666772142907918.mp4"}
+{"uid":"14763662747827566016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6189518730576272389.mp4"}
+{"uid":"14975091833411273898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5413797698483633217.mp4"}
+{"uid":"8494489442011595063","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass Q: immediate next step? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12499396989675839723.mp4"}
+{"uid":"11157229300007785174","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet on the table 2- Put the red packets on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e","video":"10238962875355300071.mp4"}
+{"uid":"594024292641615945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15965718981239624528.mp4"}
+{"uid":"6841657780735163056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table 11- Put the red packets on the table 12- Put the red packet on the table 13- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table 11- Put the red packets on the table 12- Put the red packet on the table 13- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"2537609897539292694.mp4"}
+{"uid":"12435233853915435397","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packets on the table 3- Put the red packet on the table 4- Put the red packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e","video":"963766490622144899.mp4"}
+{"uid":"18128755603721698907","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in left cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass Q: immediate next step? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put knife in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8603896790341324286.mp4"}
+{"uid":"10548543069253003433","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet on the table 2- Put the blue packets on the table 3- Put the blue packet on the table 4- Put the red packets on the table 5- Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet on the table\n\u003c/PRED\u003e","video":"4288898776353621409.mp4"}
+{"uid":"110891124241000026","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"232942823703133937.mp4"}
+{"uid":"9274832822714457425","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packets on the table 2- Put the blue packet on the table 3- Put the red packets on the table 4- Put the red packet on the table 5- Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packets on the table\n\u003c/PRED\u003e","video":"10743235529563005449.mp4"}
+{"uid":"4448860701075348484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the glass 2- put the knife in the glass 3- put knife in left cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e","video":"14473551678845425584.mp4"}
+{"uid":"4687594624952742321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"315721492317582316.mp4"}
+{"uid":"7584896421953908152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the second left indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2866179368970390177.mp4"}
+{"uid":"15791795042243304922","text":"\u003ctask:success:discrete:True\u003e\nput knife in left 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 knife in left cup\n\u003c/PRED\u003e","video":"11086768554058000115.mp4"}
+{"uid":"12242703583685322317","text":"\u003ctask:success:discrete:True\u003e\npickup the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the knife\n\u003c/PRED\u003e","video":"9582033682684953370.mp4"}
+{"uid":"8762723626768952598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLeave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1856061629234121857.mp4"}
+{"uid":"10881617898461850893","text":"\u003ctask:success:discrete:False\u003e\nPut the red packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packets on the table 4- Put the red packet on the table 5- Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e","video":"2571780859059990665.mp4"}
+{"uid":"10515907674585590501","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":"9302117742470537053.mp4"}
+{"uid":"11446754255743146959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15781456040152608960.mp4"}
+{"uid":"5895561286848908681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on the table from the bunch of glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7779625811738830260.mp4"}
+{"uid":"13094148085769121143","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":"10622113062103985995.mp4"}
+{"uid":"12672898548811652066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13394923636224659804.mp4"}
+{"uid":"1788240168611504242","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the knife into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8577175652358643290.mp4"}
+{"uid":"6277796636837853852","text":"\u003ctask:success:discrete:True\u003e\nput knifes in left 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 knifes in left cup\n\u003c/PRED\u003e","video":"9528269576050886674.mp4"}
+{"uid":"298869226455237635","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packets on the table\n\u003c/PRED\u003e","video":"14250363173103794081.mp4"}
+{"uid":"248950833189207334","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packets on the table 3- Put the red packet on the table 4- Put the blue packet on the table 5- Put the blue packets on the table\n\u003c/PRED\u003e","video":"3129228271977036759.mp4"}
+{"uid":"6687416134435726789","text":"\u003ctask:success:discrete:False\u003e\nput the knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the glass 2- put knife in left cup 3- done\n\u003c/PRED\u003e","video":"12068946154042298423.mp4"}
+{"uid":"12967486059214452894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9163285273835826691.mp4"}
+{"uid":"11402195238334924135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright 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":"5953039044475273042.mp4"}
+{"uid":"11252398483514966345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8152308323191106576.mp4"}
+{"uid":"2546699895878394977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate 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":"12870972937699107091.mp4"}
+{"uid":"7588455326470670759","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the blue packet on the table 3- Put the blue packets on the table 4- Put the blue packet on the table 5- Put the red packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3372273538819841009.mp4"}
+{"uid":"11426987365367532749","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the glass 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass Q: immediate next step? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e","video":"18015873654423375483.mp4"}
+{"uid":"10197532861620957010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass 6- drop the knife into stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the knife 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:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass 6- drop the knife into stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3670301242652283401.mp4"}
+{"uid":"10767547294249111704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11919483539341459130.mp4"}
+{"uid":"2192606659394142016","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table 11- Put the red packets on the table 12- Put the red packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table 2- Put the red packet on the table 3- Put the red packet on the table 4- Put the red packets on the table 5- Put the red packet on the table 6- Put the blue packet on the table 7- Put the blue packets on the table 8- Put the blue packet on the table 9- Put the red packets on the table 10- Put the red packet on the table 11- Put the red packets on the table 12- Put the red packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"16918385813032851112.mp4"}
+{"uid":"17509590058012158354","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet on the table 2- Put the red packet on the table 3- Put the red packets on the table 4- Put the red packet on the table 5- Put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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: take the candies out of the tray. last 20 steps: 1- Put the red packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet on the table\n\u003c/PRED\u003e","video":"10461493338597502029.mp4"}
+{"uid":"8350808560487305504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12434326076922883702.mp4"}
+{"uid":"7363893451857042791","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife 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":"10858812805695750796.mp4"}
+{"uid":"5537004239458016770","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the knife into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand Q: immediate next step? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop the knife into stand 2- pickup knife 3- put the knife in the glass 4- put knife in left cup 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the knife into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the knife into stand\n\u003c/PRED\u003e","video":"886994029474541279.mp4"}
+{"uid":"7881395519717537267","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":"3137077427316591763.mp4"}
+{"uid":"5368239128291302812","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass 6- put the knife in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife 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:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: 1- pickup the knife 2- drop the knife into stand 3- drop the knife into stand 4- pickup knife 5- put the knife in the glass 6- put the knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the glass\n\u003c/PRED\u003e","video":"15302917380559933748.mp4"}
+{"uid":"14618327855119676670","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":"16229338728681770315.mp4"}
+{"uid":"10701110394832453286","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":"9906059522066151180.mp4"}
+{"uid":"12359563450193529860","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. Q: immediate next step? \u003cPRED\u003eA: put knifes in left cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put knifes in left cup 2- drop the knife into stand 3- pickup knife 4- put the knife in the glass 5- put knife in left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knifes in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knifes in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill knives cup with knives on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put knifes in left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knifes in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knifes in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5348980105978356889.mp4"}
+{"uid":"3100665504533347403","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk Q: immediate next step? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk. last 20 steps: 1- pick up the tissue from the floor 2- enter the room Q: immediate next step? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk. last 20 steps: 1- pick up the tissue from the floor 2- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the recycle bin\n\u003c/PRED\u003e","video":"2757572609332875325.mp4"}
+{"uid":"9588721518408341931","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"2773054630113043229.mp4"}
+{"uid":"17274150343741845328","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask: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 cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"11787418826877827456.mp4"}
+{"uid":"4631437514410182112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12324492791613303836.mp4"}
+{"uid":"7703941306941772819","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16850904335142917018.mp4"}
+{"uid":"8342556947475100661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4676019853776550204.mp4"}
+{"uid":"6374475916299189098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4393740499376639722.mp4"}
+{"uid":"15339258307954243616","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":"2669744380076631214.mp4"}
+{"uid":"3565334493618599233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12909843841759588383.mp4"}
+{"uid":"14029325730590190692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2749771887892795824.mp4"}
+{"uid":"11392297467592403938","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- done\n\u003c/PRED\u003e","video":"15579489919393367109.mp4"}
+{"uid":"3180180598664209436","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tissue from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk Q: immediate next step? \u003cPRED\u003eA: pick up the tissue from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tissue from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue from the floor 2- enter the room 3- put tissue in the recycle bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue from the floor\n\u003c/PRED\u003e","video":"569888627364981829.mp4"}
+{"uid":"3010901249275421262","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans 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 cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"5102123596449752904.mp4"}
+{"uid":"3517288288833540789","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"9526495365025178009.mp4"}
+{"uid":"14253510462395472632","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16975562251880764954.mp4"}
+{"uid":"5984240451593621844","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5159447154354314509.mp4"}
+{"uid":"2481121068518863733","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"3206292138649275632.mp4"}
+{"uid":"10343308396899476197","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"166759368476209012.mp4"}
+{"uid":"18083182645285891023","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\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 cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e","video":"13450320845428944802.mp4"}
+{"uid":"5908145357166457524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15024945784483430546.mp4"}
+{"uid":"12361924473422801843","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1000089085535985127.mp4"}
+{"uid":"8004160878040589349","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e","video":"5111792753622401640.mp4"}
+{"uid":"10534630730663438288","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table 8- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table 8- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans 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: place red bull can on the table\n\u003c/PRED\u003e","video":"2921092284326710408.mp4"}
+{"uid":"13473954339151228484","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"16516274180552988426.mp4"}
+{"uid":"3490753382405961602","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a tissue box and place it on my desk. last 20 steps: 1- place the box on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a tissue box and place it on my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a tissue box and place it on my desk. last 20 steps: 1- place the box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5578749245210018970.mp4"}
+{"uid":"13124020837206738474","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans 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 cans from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\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 cans from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"17831067302880450317.mp4"}
+{"uid":"4962491363135780561","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"14663595612197220945.mp4"}
+{"uid":"3007553225769346403","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":"16829294406954685847.mp4"}
+{"uid":"11312844758892442593","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":"8469130185201512039.mp4"}
+{"uid":"2991013816990033504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown 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":"8931484948587221961.mp4"}
+{"uid":"5803544420064676283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14520077569725376350.mp4"}
+{"uid":"13573972847934280110","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6326544477223892753.mp4"}
+{"uid":"11416824887620456624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two pink packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3349097367589668942.mp4"}
+{"uid":"2137361249005410178","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8025383780435571203.mp4"}
+{"uid":"3002834183505772089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2094083435023816075.mp4"}
+{"uid":"16872189279052382591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13419097300539579392.mp4"}
+{"uid":"6875786017548156134","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e","video":"11778570603628326300.mp4"}
+{"uid":"2672905952092932794","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"222358160136642067.mp4"}
+{"uid":"15884096136967376584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown 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":"295302731677682266.mp4"}
+{"uid":"7815850524793279553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7538184338720917519.mp4"}
+{"uid":"6730922904135732471","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table 8- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table 8- put can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17974452166873158195.mp4"}
+{"uid":"12140356888246134523","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":"9933804879062540548.mp4"}
+{"uid":"13427379683141783366","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":"8249539213469101259.mp4"}
+{"uid":"16988250740696393924","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":"15583390178896637445.mp4"}
+{"uid":"5887569984149433124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e","video":"5133626671807429676.mp4"}
+{"uid":"9185362298938962679","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"15708084166978581766.mp4"}
+{"uid":"18068349068279765679","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: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 cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"962422877475394410.mp4"}
+{"uid":"3589300450831126522","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":"3482780931980257316.mp4"}
+{"uid":"13408636883258396817","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"7548317752723411384.mp4"}
+{"uid":"8795905745997728573","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"14793403085235249669.mp4"}
+{"uid":"17474396951479514239","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: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 cans 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 cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"12377167953209575436.mp4"}
+{"uid":"340940619471810707","text":"\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk. last 20 steps: 1- pick up the tissue from the floor Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab the lysol wipe from the floor and throw it in the trash into the mk. last 20 steps: 1- pick up the tissue from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- put tissue in the recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"16755194657128021602.mp4"}
+{"uid":"5361105593452410542","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table 7- place red bull 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","video":"15254461769856442972.mp4"}
+{"uid":"8873352651137443133","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":"8636242523136896513.mp4"}
+{"uid":"16033834478750258456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11443732664251898714.mp4"}
+{"uid":"9571059256596849835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"17007811990922574577.mp4"}
+{"uid":"4051691226195668496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toffee 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":"4151963507312813903.mp4"}
+{"uid":"13144697357040047417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a cereal in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3822346497289896320.mp4"}
+{"uid":"8837443890903695746","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"9513146716261087482.mp4"}
+{"uid":"14131856112280238948","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: none 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: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 cans from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask: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 cans from the tray Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3008182687558003461.mp4"}
+{"uid":"8992894894605902728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWrite on the board O Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17030376967412293801.mp4"}
+{"uid":"1968638308222785866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18082789989344842795.mp4"}
+{"uid":"12089086799516093011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4174038974589182691.mp4"}
+{"uid":"15966078095129795918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab a 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":"11787933230373478205.mp4"}
+{"uid":"1117689162794731073","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the tray. last 20 steps: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table 6- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"16785739896569501527.mp4"}
+{"uid":"11453849689779837799","text":"\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"16282655087195686840.mp4"}
+{"uid":"16665926166066873366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17934570149106818972.mp4"}
+{"uid":"4200219316204173083","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy in 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":"592590877195277063.mp4"}
+{"uid":"15739213649640233944","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- Put the candy in brown bowl 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"1610538344563046943.mp4"}
+{"uid":"12713684306737757987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a bunch of cups from the 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":"12625549257613769292.mp4"}
+{"uid":"8210375712315140971","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the bowl 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in brown bowl 5- Close the drawer\n\u003c/PRED\u003e","video":"14861730123030039551.mp4"}
+{"uid":"2560918450552058345","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":"8604894707732776315.mp4"}
+{"uid":"3031487804247198851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5227492794600667451.mp4"}
+{"uid":"15283956131031641805","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- put candy in bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in 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: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- put candy in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"424625377013080933.mp4"}
+{"uid":"13738055937458848486","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":"7075595969620680458.mp4"}
+{"uid":"5357174556929102648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3445626176013913849.mp4"}
+{"uid":"14632906213383077809","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in 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: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in brown bowl 2- Put the candy in brown bowl 3- Close the drawer 4- done\n\u003c/PRED\u003e","video":"2422387265936935227.mp4"}
+{"uid":"13287940889571560547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9828075618246138192.mp4"}
+{"uid":"14640193517684009307","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":"16439144291969219777.mp4"}
+{"uid":"10636045635245993030","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in brown bowl 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in 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: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e","video":"14729719838142088075.mp4"}
+{"uid":"8842202276077438131","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":"1536461171666388811.mp4"}
+{"uid":"8269072412530361647","text":"\u003ctask:success:discrete:True\u003e\nput the chocolate cover in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the chocolate cover in the trash bin\n\u003c/PRED\u003e","video":"17419099722041398840.mp4"}
+{"uid":"3516706091603362330","text":"\u003ctask:success:discrete:True\u003e\nPut the candy in 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 the candy in brown bowl\n\u003c/PRED\u003e","video":"279142061670572018.mp4"}
+{"uid":"8794473400945544402","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":"13637492329037270953.mp4"}
+{"uid":"5969243497724992376","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":"5703145869599431512.mp4"}
+{"uid":"17596543463804649817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace toy in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7356189396538072472.mp4"}
+{"uid":"2721639756389007636","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the bowl 2- Put the candy in brown bowl 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13189281069762920612.mp4"}
+{"uid":"15858165108512156048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput one stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12127940599480484185.mp4"}
+{"uid":"10239046462322503603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing glass stack in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15004921876467064059.mp4"}
+{"uid":"18370370059035505233","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the bowl 2- Put the candy in brown bowl 3- Put the candy in the bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e","video":"11227522001993047871.mp4"}
+{"uid":"3468514937773454036","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in brown bowl 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in 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":"12703033109008836084.mp4"}
+{"uid":"2710659021916998740","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in brown bowl 2- Put the candy in the bowl 3- Put the candy in brown bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in 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":"473954652327863736.mp4"}
+{"uid":"17400797862021836102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an orange inside the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3421303969303457114.mp4"}
+{"uid":"848294676401797216","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the bowl 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e","video":"12677636241253809056.mp4"}
+{"uid":"9252826639087476376","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":"13009713746037731212.mp4"}
+{"uid":"15662254647891221959","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"9754273989311890813.mp4"}
+{"uid":"17131301110839903096","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk. last 20 steps: 1- put the chocolate cover in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sanitizer bottle 2- place the sanitizer bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk. last 20 steps: 1- put the chocolate cover in the trash bin Q: immediate next step? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e","video":"5654501058129013520.mp4"}
+{"uid":"15999531409287951981","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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the candy in brown bowl 3- Put the candy in the bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e","video":"9462097403246946619.mp4"}
+{"uid":"4482987142793384077","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5324297997145428585.mp4"}
+{"uid":"14955459952644832055","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk. last 20 steps: 1- put the chocolate cover in the trash bin 2- pick up the sanitizer bottle 3- place the sanitizer bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk. last 20 steps: 1- put the chocolate cover in the trash bin 2- pick up the sanitizer bottle 3- place the sanitizer bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sanitizer bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2396647556779077769.mp4"}
+{"uid":"13109313249951265633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15007157060234449679.mp4"}
+{"uid":"1390598634531819111","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- Put the candy in the bowl 3- Put the candy in brown bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"7829077283577882200.mp4"}
+{"uid":"9295601564606739891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in 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: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in brown bowl 2- Put the candy in brown bowl 3- Put the candy in the bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in 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 the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e","video":"1569886107546939323.mp4"}
+{"uid":"14782934403421993518","text":"\u003ctask:success:discrete:False\u003e\nPut the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the bowl 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Close the drawer 5- done\n\u003c/PRED\u003e","video":"1944481417416635719.mp4"}
+{"uid":"12879180846748861932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12429847088526903324.mp4"}
+{"uid":"12473596043268618382","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":"15739812143614948896.mp4"}
+{"uid":"13744496185990578034","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":"4480354086091006479.mp4"}
+{"uid":"8676588702203654156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the bowl 2- Put the candy in the bowl 3- Put the candy in brown bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the bowl\n\u003c/PRED\u003e","video":"4397716686125753934.mp4"}
+{"uid":"3274551007354778117","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":"15939245419613316389.mp4"}
+{"uid":"831494290104487583","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"2590243214186615343.mp4"}
+{"uid":"11623693914224328017","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in 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":"9272979034290287278.mp4"}
+{"uid":"15878095832984882680","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":"13501246259789587667.mp4"}
+{"uid":"2690088886184509027","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: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7831817940240767867.mp4"}
+{"uid":"3615159873251702289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17972354333131842813.mp4"}
+{"uid":"9882626818487683354","text":"\u003ctask:success:discrete:True\u003e\nput candy in 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 bowl\n\u003c/PRED\u003e","video":"13072864362971362181.mp4"}
+{"uid":"5976447713651072046","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy in 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":"12543072006019221759.mp4"}
+{"uid":"14995509680786405879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8251299857693548595.mp4"}
+{"uid":"8393224368370184209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass 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":"7925887333298548441.mp4"}
+{"uid":"10551670260554884957","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"6609991792508975980.mp4"}
+{"uid":"5736849667180325375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8240707202881657489.mp4"}
+{"uid":"10317295533674280676","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in brown bowl 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in brown bowl 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in 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":"7526010069441293210.mp4"}
+{"uid":"12616711792210161535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace bunch of forks 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":"12669621169618896335.mp4"}
+{"uid":"14882759438407895102","text":"\u003ctask:success:discrete:True\u003e\nPut the candy in 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 the candy in brown bowl\n\u003c/PRED\u003e","video":"2995884827749740770.mp4"}
+{"uid":"17167387275951973745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14288577770567293070.mp4"}
+{"uid":"7777188844335880232","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk. last 20 steps: 1- put the chocolate cover in the trash bin 2- pick up the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk and while coming back get me a hand sanitizer from printer room to my desk. last 20 steps: 1- put the chocolate cover in the trash bin 2- pick up the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e","video":"2427812868975101513.mp4"}
+{"uid":"13787914939482695520","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- Put the candy in the bowl 3- Put the candy in brown bowl 4- Put the candy in brown bowl 5- Put the candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"3297206609485261404.mp4"}
+{"uid":"12982269704929827543","text":"\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl 6- Put the candy in brown bowl 7- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"2036848859146416924.mp4"}
+{"uid":"5784371134336843062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl 5- Put the candy in brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- Put the candy in brown bowl 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"9739305866230018501.mp4"}
+{"uid":"1985081537299668120","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl. last 20 steps: 1- Open the drawer 2- Put the candy in brown bowl 3- Put the candy in brown bowl 4- Put the candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the candies from the top drawer and place them in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6821819757213837779.mp4"}
+{"uid":"6792551857370176948","text":"\u003ctask:success:discrete:True\u003e\nPut the candy in 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 the candy in brown bowl\n\u003c/PRED\u003e","video":"14044385503441244444.mp4"}
+{"uid":"4142026387006296538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the book slightly 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":"15736461543864124923.mp4"}
+{"uid":"6748400218934466424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11591396560175918370.mp4"}
+{"uid":"10942312491934766051","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the glass 2- place the candy in the glass 3- place the candy in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6654909591378682376.mp4"}
+{"uid":"1209709366414661125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the Pista put it 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":"6740750831699279650.mp4"}
+{"uid":"381630966153138243","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy 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":"16711360603778227721.mp4"}
+{"uid":"9505973299791601915","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- place the candy in the glass 3- place the candy in the glass 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6922684428859016524.mp4"}
+{"uid":"17741620498684645436","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":"17363230498398636704.mp4"}
+{"uid":"996449299128428368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4750318512618976202.mp4"}
+{"uid":"9478397639987328976","text":"\u003ctask:success:discrete:False\u003e\nplace the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the glass 2- upright the glass 3- place the candy in the glass 4- place the candy in the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e","video":"10386969294445545318.mp4"}
+{"uid":"15289042994393199298","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap Q: immediate next step? \u003cPRED\u003eA: place water in wash basin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace water in wash basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place water in wash basin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. Q: immediate next step? \u003cPRED\u003eA: place water in wash basin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap Q: next 5 steps? \u003cPRED\u003eA: 1- place water in wash basin 2- place cup on the table 3- close the cup cap 4- put cup in dust bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place water in wash basin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace water in wash basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17772439171918009498.mp4"}
+{"uid":"6903897386327875587","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the tray 2- place the candy in the glass 3- upright the glass 4- place the candy in the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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 candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue 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 blue packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8667377387118883891.mp4"}
+{"uid":"14725151601977498105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"9140291489691856957.mp4"}
+{"uid":"7914513116792356884","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- upright the glass 3- place the candy in the glass 4- place the candy in the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e","video":"4678133019152439829.mp4"}
+{"uid":"3064892092291318514","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy 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":"12238495810054486769.mp4"}
+{"uid":"1780338950351982806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the heart 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":"13016005681084665255.mp4"}
+{"uid":"13834747079275269275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a green packet on left white empty table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9509075975901465295.mp4"}
+{"uid":"3918285281343035503","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":"7185385710592987655.mp4"}
+{"uid":"16494615622161682574","text":"\u003ctask:success:discrete:True\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e","video":"15671393443838137704.mp4"}
+{"uid":"9490629165352073679","text":"\u003ctask:success:discrete:True\u003e\nplace the candy 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 the candy in the glass\n\u003c/PRED\u003e","video":"12848755694410863008.mp4"}
+{"uid":"8690809331362079172","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":"12081717833905754930.mp4"}
+{"uid":"388178973051943835","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the glass 2- done\n\u003c/PRED\u003e","video":"13747209313033229972.mp4"}
+{"uid":"14768973122472357880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18426669435472284176.mp4"}
+{"uid":"10682943048668829501","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":"14108983281072296827.mp4"}
+{"uid":"10873917778301209013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy 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":"1107515174891806553.mp4"}
+{"uid":"8996359837709615069","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy 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":"15366492528490495249.mp4"}
+{"uid":"4784547100630097300","text":"\u003ctask:success:discrete:True\u003e\nplace the candy 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 the candy in the glass\n\u003c/PRED\u003e","video":"12652563694157998572.mp4"}
+{"uid":"14124086994008427912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8485671152217367066.mp4"}
+{"uid":"12982488790089733412","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put packets in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packets in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in bowl 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in bowl\n\u003c/PRED\u003e","video":"13165950843576078668.mp4"}
+{"uid":"1027046119225123757","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- place the packet in the tray 3- Put the candy in the glass 4- Put the candy in the glass 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11267546951960180128.mp4"}
+{"uid":"6242673457520181315","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the candy in the glass 4- upright the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"16299393804980740678.mp4"}
+{"uid":"15922285714122868757","text":"\u003ctask:success:discrete:True\u003e\npick up the scissors Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 scissors\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me scissor from printer room my desk. last 20 steps: 1- pick up the stapler 2- pick up the scissors Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me scissor from printer room my desk. last 20 steps: 1- pick up the stapler 2- pick up the scissors Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me scissor from printer room my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1321000395687408730.mp4"}
+{"uid":"6478279518790160480","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"12234108110789906538.mp4"}
+{"uid":"18204408391742137150","text":"\u003ctask:success:discrete:True\u003e\nPut the candy 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: Put the candy in the glass\n\u003c/PRED\u003e","video":"7822462954644839174.mp4"}
+{"uid":"7429175626060115834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place water in wash basin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace water in wash basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18436630321131751098.mp4"}
+{"uid":"12394114419118735504","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- place the packet in the tray 3- place the packet in the tray 4- place the candy in the glass 5- upright the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4814454303961738112.mp4"}
+{"uid":"11124243364644687900","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":"11374772120874712460.mp4"}
+{"uid":"12833780251318671063","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- place the packet in the tray 3- place the packet in the tray 4- place the candy in the glass 5- upright the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e","video":"10986864488395356619.mp4"}
+{"uid":"8289170587875698354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5614947458196954673.mp4"}
+{"uid":"5570399346277051373","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- Put the candy in the glass 5- Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16609121984413822716.mp4"}
+{"uid":"2213204552022213745","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin 3- place cup on the table 4- close the cup cap 5- put cup in dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin 3- place cup on the table 4- close the cup cap 5- put cup in dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup in dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11702853766412273505.mp4"}
+{"uid":"8044967667610762369","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- Put the candy in the glass 3- place the packet in the tray 4- place the packet in the tray 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e","video":"16067384877335062983.mp4"}
+{"uid":"7450057765015270780","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e","video":"16414591945118743602.mp4"}
+{"uid":"6162609049513529558","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":"4441813132542390233.mp4"}
+{"uid":"6981535770944969026","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- Put the candy in the glass 3- place the packet in the tray 4- place the packet in the tray 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e","video":"2388010212886073363.mp4"}
+{"uid":"7982726503746730189","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin Q: next 5 steps? \u003cPRED\u003eA: 1- place cup on the table 2- close the cup cap 3- put cup in dust bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin Q: immediate next step? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. Q: immediate next step? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17551071877866077271.mp4"}
+{"uid":"10511736560383760495","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the tray 2- place the packet in the tray 3- Put the candy in the glass 4- Put the candy in the glass 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3773593081419284817.mp4"}
+{"uid":"519155352207894259","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- place the packet in the tray 3- place the candy in the glass 4- upright the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17656979721635860089.mp4"}
+{"uid":"7566026707346463910","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- Put the candy in the glass 4- Put the candy in the glass 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3908626184964414332.mp4"}
+{"uid":"16996613393122686530","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- place the candy in the glass 3- place the candy in the glass 4- place the candy in the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e","video":"5808438649518751405.mp4"}
+{"uid":"11708742163339674430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pillow 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":"4011371158829016231.mp4"}
+{"uid":"8571503720759535572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut two pink packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16438577078064529613.mp4"}
+{"uid":"17893911821363592797","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy 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":"11254505936089884097.mp4"}
+{"uid":"5548415936468804081","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the candy in the glass 3- upright the glass 4- place the candy in the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"15681166791702350063.mp4"}
+{"uid":"16638261864327924841","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- Put the candy in the glass 5- Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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 candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray Q: immediate next step? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e","video":"557419662837404170.mp4"}
+{"uid":"6333232134296000464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9514826604103689151.mp4"}
+{"uid":"2692661559458814687","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass\n\u003c/PRED\u003e","video":"12962387035161970931.mp4"}
+{"uid":"17373006226192003303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18127661376964449970.mp4"}
+{"uid":"14849242094110485203","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nupright 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\nupright the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- upright the glass 2- place the candy in the glass 3- place the candy in the glass 4- place the candy in the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e","video":"12000005690505864732.mp4"}
+{"uid":"2805712333042032141","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- place the candy in the glass 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e","video":"754290311618737330.mp4"}
+{"uid":"9274938774991312722","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. Q: immediate next step? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin 3- place cup on the table 4- close the cup cap Q: immediate next step? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin 3- place cup on the table 4- close the cup cap Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in dust bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17557674482978893233.mp4"}
+{"uid":"15949554139515546534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10765287309021939290.mp4"}
+{"uid":"17339358264308526926","text":"\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e","video":"3210758457628089374.mp4"}
+{"uid":"882195553287841530","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the stapler\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1458882215266158260.mp4"}
+{"uid":"11418005030985498748","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the packets in the tray\n\u003c/PRED\u003e","video":"2278272071857976644.mp4"}
+{"uid":"11542556761325308949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"18303119903095797681.mp4"}
+{"uid":"18015821360297288102","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open cup cap 2- place water in wash basin 3- place cup on the table 4- close the cup cap 5- put cup in dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open cup cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen cup cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen cup cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open cup cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. Q: immediate next step? \u003cPRED\u003eA: open cup cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open cup cap\n\u003c/PRED\u003e","video":"8960473522578697601.mp4"}
+{"uid":"3277046676611478439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14710472960475661929.mp4"}
+{"uid":"12949061713011873226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bowl 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":"3773729225324985526.mp4"}
+{"uid":"2974838881047515081","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scissors\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scissors Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me scissor from printer room my desk Q: immediate next step? \u003cPRED\u003eA: pick up the scissors\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scissors Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me scissor from printer room my desk. last 20 steps: 1- pick up the stapler Q: immediate next step? \u003cPRED\u003eA: pick up the scissors\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using stapler can you put it back and while coming back get me scissor from printer room my desk. last 20 steps: 1- pick up the stapler Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scissors 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scissors\n\u003c/PRED\u003e","video":"5098506424593291274.mp4"}
+{"uid":"9987106172411835899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14205022145509029758.mp4"}
+{"uid":"4155300337223158946","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nupright 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":"4228364176115727767.mp4"}
+{"uid":"6992233629721314203","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- put bottle in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bottle in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput bottle in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: 1- put bottle in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14504481605771039167.mp4"}
+{"uid":"16577705242019613846","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1431739967792390528.mp4"}
+{"uid":"16557789084452122536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove back 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":"7246445278333106980.mp4"}
+{"uid":"11088344572353903215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14020281350012563720.mp4"}
+{"uid":"885720975297105887","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put bottle in the dust bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away empty bottle into the big recycle bin Q: immediate next step? \u003cPRED\u003eA: put bottle in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle in the dust bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bottle in the dust bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle in the dust bin\n\u003c/PRED\u003e","video":"8026330226556380119.mp4"}
+{"uid":"878633674294636757","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":"9718567471545802217.mp4"}
+{"uid":"4860715792733362156","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the glass 2- place the candy in the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e","video":"2226968268456249852.mp4"}
+{"uid":"280628364100065979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16143919451413101172.mp4"}
+{"uid":"9507352307292659215","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- place the packet in the tray 3- place the candy in the glass 4- upright the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"18135062399568117810.mp4"}
+{"uid":"9301418781278408052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pears on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9097019606900602081.mp4"}
+{"uid":"16424225408244997134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1191410720664219712.mp4"}
+{"uid":"5051250914550352367","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cup cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. Q: immediate next step? \u003cPRED\u003eA: close the cup cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cup cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin 3- place cup on the table Q: immediate next step? \u003cPRED\u003eA: close the cup cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cup cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want to drink the water anymore. Pour out the water and throw the cup away. . last 20 steps: 1- open cup cap 2- place water in wash basin 3- place cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the cup cap 2- put cup in dust bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cup cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3297991899110756553.mp4"}
+{"uid":"13837281615988538639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white object 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":"8322265175994080407.mp4"}
+{"uid":"13119862178434857131","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- Put the candy in the glass 3- Put the candy in the glass 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8683795985154333654.mp4"}
+{"uid":"3870041627409661527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper glasses into the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13117619533434416122.mp4"}
+{"uid":"5735924431841749912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the top  green house plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"174878752628422913.mp4"}
+{"uid":"14821374373280026266","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black 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 black packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black packet in the tray 2- Put the candy in the glass 3- Put the candy in the glass 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6880577538857028991.mp4"}
+{"uid":"1289792509844209770","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- place the candy in the glass 3- place the candy in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e","video":"8697054546972928855.mp4"}
+{"uid":"12795686974179577139","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- place the packet in the tray 3- place the packet in the tray 4- Put the candy in the glass 5- Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7535614872538189928.mp4"}
+{"uid":"12765684654963176535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut two pink candies 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":"615340265873922879.mp4"}
+{"uid":"11083730558225668135","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass 13- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass 12- place the candy in the glass 13- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7002339327378114912.mp4"}
+{"uid":"10336289543243782211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15774560880019899827.mp4"}
+{"uid":"8087379571324379012","text":"\u003ctask:success:discrete:False\u003e\nplace the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the glass 2- place the packet in the tray 3- place the packet in the tray 4- place the candy in the glass 5- upright the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9973458812258843573.mp4"}
+{"uid":"1908335911572229886","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- upright the glass 3- place the candy in the glass 4- place the candy in the glass 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e","video":"6914484317173477099.mp4"}
+{"uid":"13936284163922930127","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":"884188057778963342.mp4"}
+{"uid":"12756159644819389145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep spoon in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13857627269403868080.mp4"}
+{"uid":"17905750197705097539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar 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":"3263736372193316055.mp4"}
+{"uid":"356826955156155207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5484978225378783566.mp4"}
+{"uid":"16830635603267056036","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9777492220496681449.mp4"}
+{"uid":"3048279943415698118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2918747473019501145.mp4"}
+{"uid":"6321365196241177899","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":"3599798724444877430.mp4"}
+{"uid":"9213200529116269576","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray 8- place the packet in the tray 9- place the candy in the glass 10- upright the glass 11- place the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- place the candy in the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e","video":"6501298278941928512.mp4"}
+{"uid":"11097096226877275736","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":"9136381953745974508.mp4"}
+{"uid":"8557077447481113770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"734574871222911940.mp4"}
+{"uid":"13335410846283539996","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the glass 2- Put the candy in the glass 3- place the packet in the tray 4- place the packet in the tray 5- place the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15840262860039802780.mp4"}
+{"uid":"823852024730889607","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":"10383350050275892673.mp4"}
+{"uid":"14090127132236795291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13667267230578036322.mp4"}
+{"uid":"7632400085388631013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue marker in the black paper 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":"10264494969381843742.mp4"}
+{"uid":"4905784632774077814","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- Put the candy in the glass 3- Put the candy in the glass 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"5939472133579500469.mp4"}
+{"uid":"14538591783562585474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in cupboard 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":"7328248002563930497.mp4"}
+{"uid":"12510653928155796547","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":"774643378856816894.mp4"}
+{"uid":"9821702778281980969","text":"\u003ctask:success:discrete:False\u003e\nput packet in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place candy into cup and chip bags in bowl. last 20 steps: 1- place the packets in the tray 2- Put the blue packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- Put the candy in the glass 6- Put the candy in the glass 7- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- place the candy in the glass 3- upright the glass 4- place the candy in the glass 5- place the candy in the glass\n\u003c/PRED\u003e","video":"7005935627630933324.mp4"}
+{"uid":"3161708579742218495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5707688881986375026.mp4"}
+{"uid":"10228347118608739328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11822582475927045443.mp4"}
+{"uid":"15518629556941771072","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker from teh table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the yellow marker from teh table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6845176953147859393.mp4"}
+{"uid":"4582889614083385823","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove down to the yellow marker on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table Q: next 5 steps? \u003cPRED\u003eA: 1- Move down to the yellow marker on the floor 2- Place the yellow marker in the drawer 3- Move away from the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table Q: immediate next step? \u003cPRED\u003eA: Move down to the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move down to the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move down to the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove down to the yellow marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move down to the yellow marker on the floor\n\u003c/PRED\u003e","video":"5073256757994704689.mp4"}
+{"uid":"11478845400433234501","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange marker in 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":"338210496754282288.mp4"}
+{"uid":"14673042610363602025","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":"3313512053896413197.mp4"}
+{"uid":"573914398046260815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7379611948973516753.mp4"}
+{"uid":"16716832783958564992","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange marker in the open 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":"12367197821138740042.mp4"}
+{"uid":"3928397591122778244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11606126259607768341.mp4"}
+{"uid":"3040257104292417592","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":"16711149538351672022.mp4"}
+{"uid":"3829218115705357464","text":"\u003ctask:success:discrete:False\u003e\nThrow a pop corn in a bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Throw a pop corn in a bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow a pop corn in a bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw a pop corn in a bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Throw a pop corn in a bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw a pop corn in a bin\n\u003c/PRED\u003e","video":"4349722302294047023.mp4"}
+{"uid":"3885734852772667563","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the middle marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the middle marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3504942752010413950.mp4"}
+{"uid":"12769841520534414675","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":"4081500807123906488.mp4"}
+{"uid":"17835857695287694728","text":"\u003ctask:success:discrete:False\u003e\nPick up the yellow marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker from the floor 2- Place the yellow marker in the drawer 3- Move away from the drawer 4- done\n\u003c/PRED\u003e","video":"13596370815025899618.mp4"}
+{"uid":"8172100579301289706","text":"\u003ctask:success:discrete:False\u003e\nMove away from 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 away from 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: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the top drawer 2- Lift the right orange marker from the table 3- Drop the orange marker in the drawer 4- Move away from the drawer 5- Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e","video":"16870077630997985545.mp4"}
+{"uid":"1223349584696444368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Drop the yellow marker in the open drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the yellow marker in the open drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow marker in the open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Drop the yellow marker in the open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9769143256113113428.mp4"}
+{"uid":"5411686233766238989","text":"\u003ctask:success:discrete:False\u003e\nDrop the yellow marker 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:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the top drawer 2- Drop the yellow marker in the top drawer 3- Pick up the yellow marker from teh table 4- Move towards the yellow marker on the floor 5- Pick up the yellow marker from the floor\n\u003c/PRED\u003e","video":"361846053538315855.mp4"}
+{"uid":"4175900373504460917","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the right yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the right yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"318363414108579577.mp4"}
+{"uid":"1406379144682451126","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange marker 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:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: immediate next step? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange marker in the open drawer 2- pick up the middle marker 3- Move to the drawer 4- Drop the yellow marker in the drawer 5- pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e","video":"6803292121669064054.mp4"}
+{"uid":"6306154397557836450","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right orange marker from the table 2- Move to the right orange marker on the table 3- Lift the right orange marker from the table 4- Drop the orange marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"169983891270423728.mp4"}
+{"uid":"12806326186495465713","text":"\u003ctask:success:discrete:True\u003e\nPick up the right orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e","video":"17231167988577774456.mp4"}
+{"uid":"12887837874714277550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13977886193914780809.mp4"}
+{"uid":"12458598715284678345","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the right yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the right yellow marker 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 yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right yellow marker from the table 2- Move to the drawer 3- Drop the yellow marker in the drawer 4- pick up the bottom yellow marker 5- Drop the yellow marker in the top drawer\n\u003c/PRED\u003e","video":"2038133529736835192.mp4"}
+{"uid":"13428347174990731406","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the jar 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin Q: next 5 steps? \u003cPRED\u003eA: 1- Open the jar lid 2- Grab the scoop from the holder 3- Place the almonds in the bowl 4- Place the almonds in the bowl 5- Place back the scoop in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin Q: immediate next step? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e","video":"6266299361600416891.mp4"}
+{"uid":"12497150575091389823","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":"1511155844154145976.mp4"}
+{"uid":"1592089322875786581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4955249484826328314.mp4"}
+{"uid":"18037170655574845284","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4206627013413095525.mp4"}
+{"uid":"1599061619908332171","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer Q: immediate next step? \u003cPRED\u003eA: pick up the middle marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the middle marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the middle marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the middle marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the middle 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 middle marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the middle marker 2- Move to the drawer 3- Drop the yellow marker in the drawer 4- pick up the bottom yellow marker 5- Drop the yellow marker in the top drawer\n\u003c/PRED\u003e","video":"1141116166892072530.mp4"}
+{"uid":"487541587259435649","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":"13634474082035701323.mp4"}
+{"uid":"13756700154964119418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18272885447897541893.mp4"}
+{"uid":"3623704122094911052","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6428948084319006237.mp4"}
+{"uid":"1056104504841971375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow 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":"8029703196983124916.mp4"}
+{"uid":"17936611383265442537","text":"\u003ctask:success:discrete:True\u003e\nMove towards the yellow marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the yellow marker on the floor\n\u003c/PRED\u003e","video":"3668778682150893716.mp4"}
+{"uid":"961554644749994001","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the right orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"473298672758305860.mp4"}
+{"uid":"11430212735070964640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6982690603532162137.mp4"}
+{"uid":"11837266335395668664","text":"\u003ctask:success:discrete:True\u003e\nMove down to the yellow marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move down to the yellow marker on the floor\n\u003c/PRED\u003e","video":"14346912210305534231.mp4"}
+{"uid":"9392212458991518753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a orange 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":"8104622911988827918.mp4"}
+{"uid":"15919879380013755301","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Pick up the yellow marker from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker in the drawer 2- Move away from the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Pick up the yellow marker from the floor Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow marker in the drawer\n\u003c/PRED\u003e","video":"17807385139177111122.mp4"}
+{"uid":"17845727210296547475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15658679100011028843.mp4"}
+{"uid":"16747908002290908886","text":"\u003ctask:success:discrete:False\u003e\nClose the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl 6- Place back the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the jar 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:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl 6- Place back the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Close the jar lid 2- done\n\u003c/PRED\u003e","video":"4648422790540552504.mp4"}
+{"uid":"11388032040009051218","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange marker in the open drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e","video":"1224018046814555714.mp4"}
+{"uid":"4644470789076939523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the basket inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13354037698692172705.mp4"}
+{"uid":"3675661144181197086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16298781940370558777.mp4"}
+{"uid":"1341534515502138658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11825397612957444114.mp4"}
+{"uid":"15261195413283772286","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl 6- Place back the scoop in the holder 7- Close the jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl 6- Place back the scoop in the holder 7- Close the jar lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15035607836642820982.mp4"}
+{"uid":"4169533271526615727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee lids on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7212558075293117714.mp4"}
+{"uid":"9105969290394339541","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSpread the wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSpread the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table Q: immediate next step? \u003cPRED\u003eA: Spread the wipe on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Spread the wipe on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Spread the wipe on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Spread the wipe on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Spread the wipe on the table 2- Clean the table 3- Clean the table 4- Close the packet of disinfectant wipes 5- Pick up the wipe\n\u003c/PRED\u003e","video":"4127763816583148716.mp4"}
+{"uid":"4807670618844507870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6875067728549351070.mp4"}
+{"uid":"2895298330408760909","text":"\u003ctask:success:discrete:True\u003e\nDrop the yellow marker in 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: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e","video":"16739041079173135873.mp4"}
+{"uid":"12999315271551011131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14113091705353023686.mp4"}
+{"uid":"10659571095561906778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13124466071294033636.mp4"}
+{"uid":"14738386132946917652","text":"\u003ctask:success:discrete:True\u003e\nSpread the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Spread the wipe on the table\n\u003c/PRED\u003e","video":"2458410335063016156.mp4"}
+{"uid":"3939517371395873629","text":"\u003ctask:success:discrete:True\u003e\nDrop the orange 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: Drop the orange marker in the drawer\n\u003c/PRED\u003e","video":"6059456328388288438.mp4"}
+{"uid":"11658121725057811008","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to 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":"5967116075022336169.mp4"}
+{"uid":"5625130487939956871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow 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":"17891704189078782899.mp4"}
+{"uid":"16991917931367954348","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move towards the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table Q: immediate next step? \u003cPRED\u003eA: Move towards the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the yellow marker on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the yellow marker on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the yellow marker on the floor 2- Place the yellow marker in the drawer 3- Move away from the drawer 4- done\n\u003c/PRED\u003e","video":"5332029568439936885.mp4"}
+{"uid":"11940803017327045794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8413132771574137350.mp4"}
+{"uid":"13461996430464556274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker in the open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the open drawer 2- done\n\u003c/PRED\u003e","video":"1895805924682498477.mp4"}
+{"uid":"17481330548685456321","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the orange marker in the drawer 2- pick up the middle marker 3- Move to the drawer 4- Drop the yellow marker in the drawer 5- pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Release the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the orange 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: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Release the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the orange 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","video":"2444520088849327014.mp4"}
+{"uid":"7727089803997493740","text":"\u003ctask:success:discrete:False\u003e\nLift the right orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the right orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table Q: immediate next step? \u003cPRED\u003eA: Lift the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Lift the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the right orange marker from the table 2- Drop the orange marker in the drawer 3- Move away from the drawer 4- Move to the table 5- Pick up the orange marker from the table\n\u003c/PRED\u003e","video":"1546802060598261675.mp4"}
+{"uid":"870942314454125671","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: move to the bottom orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the bottom orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the bottom orange marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the bottom orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the bottom orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the bottom orange marker 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the bottom orange marker\n\u003c/PRED\u003e","video":"13530379517925512584.mp4"}
+{"uid":"13797864560735214275","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the right yellow marker 2- Move to the drawer 3- Drop the yellow marker in the drawer 4- pick up the bottom yellow marker 5- Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Grasp the right yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the right yellow 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the right yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the right yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the right yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Grasp the right yellow marker\n\u003c/PRED\u003e","video":"2412622641875823652.mp4"}
+{"uid":"963591939213627141","text":"\u003ctask:success:discrete:True\u003e\nDrop the orange marker in 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: Drop the orange marker in the top drawer\n\u003c/PRED\u003e","video":"3219280360812829220.mp4"}
+{"uid":"6447540095574483535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the yellow marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13300801014188195889.mp4"}
+{"uid":"10335463825276592663","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":"14813065534610358512.mp4"}
+{"uid":"4217749612408600643","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: immediate next step? \u003cPRED\u003eA: pick up the orange marker 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 orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange marker from the table 2- drop the orange marker in the open drawer 3- pick up the middle marker 4- Move to the drawer 5- Drop the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange marker from the table\n\u003c/PRED\u003e","video":"1138858013612052770.mp4"}
+{"uid":"8725110264020943516","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the wipe\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Pick up the wipe\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the wipe\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table 5- Clean the table 6- Close the packet of disinfectant wipes Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the wipe 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table 5- Clean the table 6- Close the packet of disinfectant wipes Q: immediate next step? \u003cPRED\u003eA: Pick up the wipe\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the wipe Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13116011057039075525.mp4"}
+{"uid":"13808133685828896996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5964215590360201122.mp4"}
+{"uid":"16924463994769771227","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker from teh table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker from teh table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from teh table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker from teh table 2- Move towards the yellow marker on the floor 3- Pick up the yellow marker from the floor 4- Place the yellow marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from teh table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker from teh table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow marker from teh table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12252180187547705004.mp4"}
+{"uid":"6225454144196028713","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange marker 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:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the open drawer 2- Move away from the drawer 3- Move to the table 4- Pick up the orange marker from the table 5- drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the open drawer\n\u003c/PRED\u003e","video":"4178554922255506427.mp4"}
+{"uid":"13633926706528324427","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow marker from the table 2- Move towards the yellow marker on the floor 3- Pick up the yellow marker from the floor 4- Place the yellow marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: immediate next step? \u003cPRED\u003eA: pick up the yellow marker from the table\n\u003c/PRED\u003e","video":"13241922867316924963.mp4"}
+{"uid":"14480518870372148335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15892962595346182698.mp4"}
+{"uid":"4597559345072405213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15051933657840555056.mp4"}
+{"uid":"7920886997733343025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9887052071686366718.mp4"}
+{"uid":"15303611622754915438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace white popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10849753411205953180.mp4"}
+{"uid":"12246801161676982760","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the right most orange marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer Q: immediate next step? \u003cPRED\u003eA: touch the right most orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the right most orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: touch the right most orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- touch the right most orange marker 2- Drop the orange marker in the drawer 3- Move away from the drawer 4- Move to the table 5- Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the right most orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the right most orange marker\n\u003c/PRED\u003e","video":"2645512094927238637.mp4"}
+{"uid":"12942307999988108103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7547334117836551286.mp4"}
+{"uid":"14656468307879954396","text":"\u003ctask:success:discrete:True\u003e\nDrop the marker in the open drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e","video":"12796559442881169333.mp4"}
+{"uid":"2207532545789380708","text":"\u003ctask:success:discrete:True\u003e\nDrop the yellow marker in 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: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e","video":"226273027378398686.mp4"}
+{"uid":"5922653380528124913","text":"\u003ctask:success:discrete:True\u003e\ntouch the right most orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the right most orange marker\n\u003c/PRED\u003e","video":"2400519708221818389.mp4"}
+{"uid":"5017113563744090802","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right orange marker from the table 2- Move away from the drawer 3- Move to the table 4- Pick up the orange marker from the table 5- drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e","video":"9343694770970205528.mp4"}
+{"uid":"11866404307188740291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13740376774937627036.mp4"}
+{"uid":"15446841313154210365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove packet to the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"342963372355473304.mp4"}
+{"uid":"7189098525498605237","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange 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: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the drawer 2- Move away from the drawer 3- Move to the table 4- Pick up the orange marker from the table 5- drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange 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","video":"8739315868135018040.mp4"}
+{"uid":"18403502166633626150","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":"17367874238297010629.mp4"}
+{"uid":"16222210272880773010","text":"\u003ctask:success:discrete:True\u003e\nThrow a pop corn in a bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw a pop corn in a bin\n\u003c/PRED\u003e","video":"15484231004770059265.mp4"}
+{"uid":"13360920807018514082","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer\n\u003c/PRED\u003e","video":"9285709118767092138.mp4"}
+{"uid":"848862160857799743","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table Q: immediate next step? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the table 2- Clean the table 3- Close the packet of disinfectant wipes 4- Pick up the wipe 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e","video":"12703910107538271959.mp4"}
+{"uid":"15604660420413484971","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the middle yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the middle yellow marker from the table 2- Move to the drawer 3- Drop the yellow marker in the drawer 4- pick up the bottom yellow marker 5- Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the middle yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the middle yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the middle yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the middle yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the middle yellow marker from the table\n\u003c/PRED\u003e","video":"7624212784117966243.mp4"}
+{"uid":"13639423517268136972","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the bottom orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom orange marker 2- Move to the right orange marker on the table 3- Lift the right orange marker from the table 4- Drop the orange marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the bottom orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottom orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom orange marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the bottom orange marker\n\u003c/PRED\u003e","video":"5847462922571841500.mp4"}
+{"uid":"15074274091471033088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5898964033546526933.mp4"}
+{"uid":"10980849171939457419","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker from the floor 2- Place the yellow marker in the drawer 3- Move away from the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4156304336751131498.mp4"}
+{"uid":"8192994645393716671","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker 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 yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow marker 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:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the top drawer 2- done\n\u003c/PRED\u003e","video":"5467490928685714365.mp4"}
+{"uid":"3055974853593010410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4091188189409474828.mp4"}
+{"uid":"3098951847170849017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the left leaf of 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":"13138289023079017681.mp4"}
+{"uid":"12280253776178480747","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the top drawer 2- Pick up the orange marker from the table 3- drop the orange marker in the open drawer 4- pick up the middle marker 5- Move to the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from 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: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from 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","video":"6126591449186323001.mp4"}
+{"uid":"16524799411306804184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18363982728834024220.mp4"}
+{"uid":"3230079837522553221","text":"\u003ctask:success:discrete:True\u003e\nPlace the almonds in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e","video":"3901566158048225820.mp4"}
+{"uid":"9812049767227563433","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the yellow 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: Release the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Release the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Release the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the yellow 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: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Release the yellow marker in the drawer 2- Pick up the yellow marker from teh table 3- Move towards the yellow marker on the floor 4- Pick up the yellow marker from the floor 5- Place the yellow marker in the drawer\n\u003c/PRED\u003e","video":"4823067933619483487.mp4"}
+{"uid":"2544673867306646100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the stapler 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":"6602401406008536209.mp4"}
+{"uid":"17463149213513683325","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange 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: Place the orange marker in the drawer\n\u003c/PRED\u003e","video":"15546423073970233555.mp4"}
+{"uid":"4015642166105409805","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess piece 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":"14424379405963395709.mp4"}
+{"uid":"12941532590054543109","text":"\u003ctask:success:discrete:True\u003e\nOpen the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e","video":"12915643246975095068.mp4"}
+{"uid":"10092086709075322315","text":"\u003ctask:success:discrete:True\u003e\nPick up the orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e","video":"11457565822047287621.mp4"}
+{"uid":"8400086675783021727","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the right orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6725295192446794852.mp4"}
+{"uid":"12442442948435441393","text":"\u003ctask:success:discrete:True\u003e\nMove away from 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: Move away from the top drawer\n\u003c/PRED\u003e","video":"3377723302953352002.mp4"}
+{"uid":"3232570740388444532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the table 2- Close the packet of disinfectant wipes 3- Pick up the wipe 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table Q: immediate next step? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6272602616994204060.mp4"}
+{"uid":"6387946521574966585","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":"7609045523307695415.mp4"}
+{"uid":"255062668946679759","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom yellow marker from the table 2- Drop the yellow marker in the top drawer 3- Pick up the yellow marker from teh table 4- Move towards the yellow marker on the floor 5- Pick up the yellow marker from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e","video":"10296393209543757827.mp4"}
+{"uid":"484601018970886661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3482699100681023700.mp4"}
+{"uid":"17746575270058036968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12349800853655771660.mp4"}
+{"uid":"9146292285076493171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the house plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11316458981963876287.mp4"}
+{"uid":"18163388675022559455","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- Pick up the orange marker from the table 3- drop the orange marker in the open drawer 4- pick up the middle marker 5- Move to the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"15647140209305472583.mp4"}
+{"uid":"7496964419175515911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Place the orange marker 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 marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange marker in the drawer 2- Move to the right orange marker on the table 3- Lift the right orange marker from the table 4- Drop the orange marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange 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","video":"3968561654456620415.mp4"}
+{"uid":"9205235619878106534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packets in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"472397354112541312.mp4"}
+{"uid":"9851725911501057404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the almonds in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the almonds in the bowl 2- Place back the scoop in the holder 3- Close the jar lid 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e","video":"2237203832922609360.mp4"}
+{"uid":"5963691564940624705","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the orange marker on the table 2- drop the orange marker in the open drawer 3- pick up the middle marker 4- Move to the drawer 5- Drop the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the orange marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the orange marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the orange marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the orange marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the orange marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the orange marker on the table\n\u003c/PRED\u003e","video":"4004992761620465930.mp4"}
+{"uid":"774725626401313998","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker 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:success:discrete:False\u003e\nDrop the orange marker 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:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the top drawer 2- Move to the right orange marker on the table 3- Lift the right orange marker from the table 4- Drop the orange marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e","video":"4436210768871288280.mp4"}
+{"uid":"6621400586959204667","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange marker from the table 2- pick up the middle marker 3- Move to the drawer 4- Drop the yellow marker in the drawer 5- pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e","video":"81577708761270760.mp4"}
+{"uid":"10796168376608670362","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7595433150220009804.mp4"}
+{"uid":"12615319355641509431","text":"\u003ctask:success:discrete:False\u003e\nPlace back the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl Q: immediate next step? \u003cPRED\u003eA: Place back the scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder 4- Place the almonds in the bowl 5- Place the almonds in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place back the scoop in the holder 2- Close the jar lid 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Place back the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place back the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace back the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place back the scoop in the holder\n\u003c/PRED\u003e","video":"15094424113455332712.mp4"}
+{"uid":"12451731108465263698","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the bottom yellow 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:success:discrete:False\u003e\npick up the bottom yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottom yellow marker 2- Pick up the yellow marker from teh table 3- Move towards the yellow marker on the floor 4- Pick up the yellow marker from the floor 5- Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the bottom yellow marker\n\u003c/PRED\u003e","video":"10219705261510427391.mp4"}
+{"uid":"5878837931548422628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the glass 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":"12068528428334076741.mp4"}
+{"uid":"667440840083525600","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker from the table 2- Move towards the yellow marker on the floor 3- Pick up the yellow marker from the floor 4- Place the yellow marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e","video":"12367121955336920011.mp4"}
+{"uid":"10703177767947479876","text":"\u003ctask:success:discrete:False\u003e\nMove to the right orange 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\nMove to the right orange marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Move to the right orange marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right orange marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right orange marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move to the right orange marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right orange marker on the table 2- Lift the right orange marker from the table 3- Drop the orange marker in the drawer 4- Move away from the drawer 5- Move to the table\n\u003c/PRED\u003e","video":"15684862951646717272.mp4"}
+{"uid":"8058538850415186736","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":"18356219688742848530.mp4"}
+{"uid":"14737858969567909465","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Put the wipe on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wipe on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wipe on the table 2- Spread the wipe on the table 3- Clean the table 4- Clean the table 5- Close the packet of disinfectant wipes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 wipe on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes Q: immediate next step? \u003cPRED\u003eA: Put the wipe on the table\n\u003c/PRED\u003e","video":"5947718514500997541.mp4"}
+{"uid":"11410159364813717313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9928112376378142884.mp4"}
+{"uid":"498065791513152898","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":"4308839967504403671.mp4"}
+{"uid":"17592840265201006981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3078989271675475260.mp4"}
+{"uid":"10872334664361063498","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the marker in the open drawer 2- Pick up the yellow marker from teh table 3- Move towards the yellow marker on the floor 4- Pick up the yellow marker from the floor 5- Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker Q: immediate next step? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the marker 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 marker 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","video":"7744396171946369195.mp4"}
+{"uid":"11957002004547012178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoons in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3923925798407775665.mp4"}
+{"uid":"17334935370311758097","text":"\u003ctask:success:discrete:False\u003e\nMove 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the drawer 2- Drop the yellow marker in the drawer 3- pick up the bottom yellow marker 4- Drop the yellow marker in the top drawer 5- Pick up the yellow marker from teh table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker Q: immediate next step? \u003cPRED\u003eA: Move to the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move to the drawer\n\u003c/PRED\u003e","video":"1224080109342794478.mp4"}
+{"uid":"2016048541486298356","text":"\u003ctask:success:discrete:True\u003e\nPut the wipe on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 wipe on the table\n\u003c/PRED\u003e","video":"7538480687574473478.mp4"}
+{"uid":"4667079844058090827","text":"\u003ctask:success:discrete:True\u003e\nMove away from 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: Move away from the top drawer\n\u003c/PRED\u003e","video":"12169152264710289822.mp4"}
+{"uid":"17091373708480249696","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the top drawer 2- Move to the table 3- Pick up the orange marker from the table 4- drop the orange marker in the open drawer 5- pick up the middle marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange marker 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","video":"17012862615608157107.mp4"}
+{"uid":"11585766237825517066","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange marker 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the top drawer 2- Move to the drawer 3- Drop the yellow marker in the drawer 4- pick up the bottom yellow marker 5- Drop the yellow marker in the top drawer\n\u003c/PRED\u003e","video":"7608825955039441433.mp4"}
+{"uid":"11545611032688886450","text":"\u003ctask:success:discrete:True\u003e\nmove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"4962803828054083202.mp4"}
+{"uid":"5663070740626470002","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":"9241178944291314165.mp4"}
+{"uid":"16505536873801364148","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker Q: immediate next step? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the marker 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the marker in the open drawer 2- pick up the bottom yellow marker 3- Drop the yellow marker in the top drawer 4- Pick up the yellow marker from teh table 5- Move towards the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the marker in the open drawer\n\u003c/PRED\u003e","video":"11075018716464051317.mp4"}
+{"uid":"2077364665473440108","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the drawer 2- pick up the bottom yellow marker 3- Drop the yellow marker in the top drawer 4- Pick up the yellow marker from teh table 5- Move towards the yellow marker on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow 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:success:discrete:False\u003e\nDrop the yellow 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","video":"9439677230151264189.mp4"}
+{"uid":"4478301217697278086","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":"6562846629552181147.mp4"}
+{"uid":"7647194189530028244","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the middle yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the middle yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12801307959522395002.mp4"}
+{"uid":"4232717235456468408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the bottom yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10857050671209486431.mp4"}
+{"uid":"2763795829508511726","text":"\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Pick up the orange marker from the table 3- drop the orange marker in the open drawer 4- pick up the middle marker 5- Move to the drawer\n\u003c/PRED\u003e","video":"14978711885538219465.mp4"}
+{"uid":"7471944877659409163","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the packet of the disinfectant wipes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table 5- Clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Open the packet of the disinfectant wipes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the packet of the disinfectant wipes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 packet of the disinfectant wipes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 the library table clean with the wipes. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the packet of the disinfectant wipes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the packet of the disinfectant wipes\n\u003c/PRED\u003e","video":"17901877952307176762.mp4"}
+{"uid":"7537412197479666992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3213649377601171451.mp4"}
+{"uid":"11354310654604457744","text":"\u003ctask:success:discrete:True\u003e\nPick up the yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e","video":"2104234900078343736.mp4"}
+{"uid":"6834691395912269862","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange marker 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:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange marker in the open drawer 2- Move to the right orange marker on the table 3- Lift the right orange marker from the table 4- Drop the orange marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table Q: immediate next step? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange marker in the open drawer\n\u003c/PRED\u003e","video":"17785422615464513571.mp4"}
+{"uid":"4579638127560088633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the blue box 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":"18165741844150172341.mp4"}
+{"uid":"18048481328114362578","text":"\u003ctask:success:discrete:True\u003e\nPlace the almonds in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e","video":"8750513737999652521.mp4"}
+{"uid":"10626695567618877977","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Pick up the yellow marker from the floor 18- Place the yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e\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: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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Pick up the yellow marker from the floor 18- Place the yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the drawer\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","video":"14350709655355716928.mp4"}
+{"uid":"11822356685439863566","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer 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: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the drawer 2- Move to the table 3- Pick up the orange marker from the table 4- drop the orange marker in the open drawer 5- pick up the middle marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the drawer\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: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e","video":"6581843501071141454.mp4"}
+{"uid":"12592698541386697104","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":"6358494832580818403.mp4"}
+{"uid":"9324450515494926163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5157306489411074939.mp4"}
+{"uid":"15411234591092484814","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":"6283013524746061541.mp4"}
+{"uid":"1495450406341213129","text":"\u003ctask:success:discrete:True\u003e\nMove to the right orange marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right orange marker on the table\n\u003c/PRED\u003e","video":"2480055847076929924.mp4"}
+{"uid":"15753551235520731648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10841925449090882512.mp4"}
+{"uid":"9961255142753170230","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the top drawer 2- Move towards the yellow marker on the floor 3- Pick up the yellow marker from the floor 4- Place the yellow marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow marker 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e","video":"3046543169765156077.mp4"}
+{"uid":"10719962246128775911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11271460922229947248.mp4"}
+{"uid":"13235801726226107454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10236339890597823995.mp4"}
+{"uid":"14429112114207289213","text":"\u003ctask:success:discrete:False\u003e\nClose the packet of disinfectant wipes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 packet of disinfectant wipes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 packet of disinfectant wipes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table 5- Clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the packet of disinfectant wipes 2- Pick up the wipe 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the packet of disinfectant wipes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. last 20 steps: 1- Open the packet of the disinfectant wipes 2- Put the wipe on the table 3- Spread the wipe on the table 4- Clean the table 5- Clean the table Q: immediate next step? \u003cPRED\u003eA: Close the packet of disinfectant wipes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table clean with the wipes. Q: immediate next step? \u003cPRED\u003eA: Close the packet of disinfectant wipes\n\u003c/PRED\u003e","video":"2633658701055772064.mp4"}
+{"uid":"4520518908077405303","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table Q: immediate next step? \u003cPRED\u003eA: pick up the right most orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right most orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right most orange 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:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: pick up the right most orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right most orange marker 2- Move away from the drawer 3- Move to the table 4- Pick up the orange marker from the table 5- drop the orange marker in the open drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right most orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right most orange 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":"5600785439417195981.mp4"}
+{"uid":"12308480930695858674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pen to the right side of the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13913756871958577571.mp4"}
+{"uid":"3105978569684335659","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange marker from the table 2- pick up the middle marker 3- Move to the drawer 4- Drop the yellow marker in the drawer 5- pick up the bottom yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e","video":"2574547308891821891.mp4"}
+{"uid":"18204284591534434283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16030183804657616808.mp4"}
+{"uid":"2253619487685849740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Grab the scoop from the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the scoop from the holder 2- Place the almonds in the bowl 3- Place the almonds in the bowl 4- Place back the scoop in the holder 5- Close the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the scoop 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the scoop from the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the scoop from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the scoop from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid Q: immediate next step? \u003cPRED\u003eA: Grab the scoop from the holder\n\u003c/PRED\u003e","video":"11965368827646602452.mp4"}
+{"uid":"6165668505170829690","text":"\u003ctask:success:discrete:True\u003e\nMove your arm towards the orange marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the orange marker on the table\n\u003c/PRED\u003e","video":"3625724541469648021.mp4"}
+{"uid":"5799553879027686237","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom yellow marker from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom yellow marker from the table 2- Pick up the yellow marker from teh table 3- Move towards the yellow marker on the floor 4- Pick up the yellow marker from the floor 5- Place the yellow marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15863875718146958285.mp4"}
+{"uid":"394454430242380687","text":"\u003ctask:success:discrete:True\u003e\nClean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the table\n\u003c/PRED\u003e","video":"11020859130148237903.mp4"}
+{"uid":"14806548249786840649","text":"\u003ctask:success:discrete:True\u003e\npick up the orange marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange marker from the table\n\u003c/PRED\u003e","video":"434315633691297181.mp4"}
+{"uid":"8063093814502188753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop  prep pad 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":"10990011550984750988.mp4"}
+{"uid":"15268901151302230238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder Q: immediate next step? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the almonds in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead?. last 20 steps: 1- Throw a pop corn in a bin 2- Open the jar lid 3- Grab the scoop from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the almonds in the bowl 2- Place the almonds in the bowl 3- Place back the scoop in the holder 4- Close the jar lid 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I don't want the pipcorn anymore. Can you throw the popcorn away and put some almonds in there instead? Q: immediate next step? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the almonds in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the almonds in the bowl\n\u003c/PRED\u003e","video":"11987317988498846283.mp4"}
+{"uid":"2678694798605540025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16849176478316750652.mp4"}
+{"uid":"2332646427108847464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the bottom yellow marker from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8892354823630913059.mp4"}
+{"uid":"15552799035270368351","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":"2173826419419769185.mp4"}
+{"uid":"4707988064936220145","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":"5826873193089025975.mp4"}
+{"uid":"6251857626908479483","text":"\u003ctask:success:discrete:True\u003e\nDrop the yellow marker in 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: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Drop the yellow marker in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow marker in the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer 15- Pick up the yellow marker from teh table 16- Move towards the yellow marker on the floor 17- Drop the yellow marker in the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9956963749818742460.mp4"}
+{"uid":"9343140758985272063","text":"\u003ctask:success:discrete:False\u003e\nDrop the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker 2- Move towards the yellow marker on the floor 3- Pick up the yellow marker from the floor 4- Place the yellow marker in the drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all highlighters into the top drawer. last 20 steps: 1- Pick up the right orange marker from the table 2- Place the orange marker in the drawer 3- Move to the right orange marker on the table 4- Lift the right orange marker from the table 5- Drop the orange marker in the drawer 6- Move away from the drawer 7- Move to the table 8- Pick up the orange marker from the table 9- drop the orange marker in the open drawer 10- pick up the middle marker 11- Move to the drawer 12- Drop the yellow marker in the drawer 13- pick up the bottom yellow marker 14- Drop the yellow marker in the top drawer Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker\n\u003c/PRED\u003e","video":"9944967795858593936.mp4"}
+{"uid":"8782640788691370695","text":"\u003ctask:success:discrete:True\u003e\nPick up the yellow marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the yellow marker from the floor\n\u003c/PRED\u003e","video":"6396156593284323053.mp4"}
+{"uid":"15930819172188861736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tray of candies in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15508179413748560074.mp4"}
+{"uid":"2019226047877085365","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":"15152005857726991956.mp4"}
+{"uid":"6067325300835736206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14926959353294029104.mp4"}
+{"uid":"9473355899114284692","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the  plastic spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the  plastic spoon  in the spoon 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":"7809765816334549124.mp4"}
+{"uid":"10842234962400683379","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tong in the left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tong in the left 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":"12914425628543147059.mp4"}
+{"uid":"10942993053063027175","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the gripper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: stack the gripper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the gripper 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the gripper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"295827093550004679.mp4"}
+{"uid":"2476792196065243284","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tong in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tong in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Put the tong in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tong in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the tong in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tong in the stand 2- stack the glass 3- stack the gripper 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tong 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":"13746707618572075025.mp4"}
+{"uid":"16168300500851829019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11532105509562673096.mp4"}
+{"uid":"2150171361472222840","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the stand 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass 5- stack the gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon 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":"7434817997844170287.mp4"}
+{"uid":"14759556485787558613","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":"7946761982311925436.mp4"}
+{"uid":"4042289383190847592","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tong in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tong in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tong in the left holder 2- stack the gripper 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Put the tong in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the tong in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tong in the left 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 tong in the left 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":"9841721772548974033.mp4"}
+{"uid":"3217229348657884075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPic the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16902094343712839495.mp4"}
+{"uid":"6187187949112539442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room with the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13823776745471281579.mp4"}
+{"uid":"14948301885524803009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the lid of the pista 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":"15680568987573715789.mp4"}
+{"uid":"17893124446976027895","text":"\u003ctask:success:discrete:True\u003e\nplace the   tongs\n in the spoon 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   tongs\n in the spoon holder\n\u003c/PRED\u003e","video":"13141203906735650812.mp4"}
+{"uid":"211286928928598557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coffee cup lid 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":"13368373549083433569.mp4"}
+{"uid":"7673385677140971149","text":"\u003ctask:success:discrete:True\u003e\nput rectangle in the orange 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 rectangle in the orange drawer\n\u003c/PRED\u003e","video":"17159582621583288507.mp4"}
+{"uid":"859744636409084779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange wrapper into the left black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3751551326261482707.mp4"}
+{"uid":"272440983228292361","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glasses 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e","video":"8834603413222183245.mp4"}
+{"uid":"6012070104227883182","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":"1109492318193884325.mp4"}
+{"uid":"17423034166255464810","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put circle in the yellow drawer 2- put rectangle in the orange drawer 3- put triangle in the orange drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput circle in the yellow drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put circle in the yellow drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput circle in the yellow drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer Q: immediate next step? \u003cPRED\u003eA: put circle in the yellow drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: put circle in the yellow drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put circle in the yellow drawer\n\u003c/PRED\u003e","video":"99007181218167083.mp4"}
+{"uid":"7583875304969063144","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the stand 2- Put the tong in the left holder 3- stack the glass 4- stack the gripper 5- done\n\u003c/PRED\u003e","video":"4081804589157377598.mp4"}
+{"uid":"6416978981448723683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9992028329706372706.mp4"}
+{"uid":"16432206150744415501","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the  steel spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the  steel spoon  in the spoon 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":"16999214026534948428.mp4"}
+{"uid":"1294923374587676166","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the  steel spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  steel spoon  in the spoon 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  steel spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  steel spoon  in the spoon 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 scoopers and tong into the bins, then stack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the  steel spoon  in the spoon holder 2- Put the tong in the left holder 3- stack the glass 4- stack the gripper 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: place the  steel spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  steel spoon  in the spoon holder\n\u003c/PRED\u003e","video":"16959454659607840423.mp4"}
+{"uid":"3060987499733097862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4582442560849640189.mp4"}
+{"uid":"15199341615719280937","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put square in the blue drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer Q: immediate next step? \u003cPRED\u003eA: put square in the blue drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put square in the blue drawer 2- put circle in the yellow drawer 3- put rectangle in the orange drawer 4- put triangle in the orange drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput square in the blue drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put square in the blue drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: put square in the blue drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput square in the blue drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4719156846568020874.mp4"}
+{"uid":"9914559596645940771","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put diamond in the blue drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput diamond in the blue drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: put diamond in the blue drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput diamond in the blue drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put diamond in the blue drawer 2- put square in the blue drawer 3- put circle in the yellow drawer 4- put rectangle in the orange drawer 5- put triangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put diamond in the blue drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer Q: immediate next step? \u003cPRED\u003eA: put diamond in the blue drawer\n\u003c/PRED\u003e","video":"8428068664167496387.mp4"}
+{"uid":"10820690635060622822","text":"\u003ctask:success:discrete:True\u003e\nstack the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass 5- stack the gripper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass 5- stack the gripper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the gripper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11293121856908271263.mp4"}
+{"uid":"10514376875788260992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm close to the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4092185685471639460.mp4"}
+{"uid":"15416614187805184217","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the steel spatula in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the steel spatula in the right 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 steel spatula in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the steel spatula in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass 5- stack the gripper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Put the steel spatula in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the steel spatula in the right 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":"16187075217917400989.mp4"}
+{"uid":"16961860941917774070","text":"\u003ctask:success:discrete:True\u003e\nStack up the second two paper glasses on the stacked paper glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass 5- Stack up the second two paper glasses on the stacked paper glasses Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass 5- Stack up the second two paper glasses on the stacked paper glasses Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack up the second two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e","video":"1886142238872017327.mp4"}
+{"uid":"13301226714479938448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8529461464559101273.mp4"}
+{"uid":"3549384748637731440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8116232666349460914.mp4"}
+{"uid":"11786780249842149618","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":"15929473075795645778.mp4"}
+{"uid":"4060453585488355342","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the  plastic spoon  in the spoon holder 2- Put the tong in the left holder 3- stack the glass 4- stack the gripper 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  plastic spoon  in the spoon 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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: immediate next step? \u003cPRED\u003eA: place the  plastic spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: place the  plastic spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  plastic spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  plastic spoon  in the spoon holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the  plastic spoon  in the spoon 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":"12359856627173501746.mp4"}
+{"uid":"4469577227472994306","text":"\u003ctask:success:discrete:True\u003e\nput diamond in the blue 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 diamond in the blue drawer\n\u003c/PRED\u003e","video":"17315713694039255669.mp4"}
+{"uid":"1746585662260486852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic spoon 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":"14759734861482543667.mp4"}
+{"uid":"15838581310324019755","text":"\u003ctask:success:discrete:True\u003e\nstack the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e","video":"6783305565611571016.mp4"}
+{"uid":"3332381093248590692","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put rectangle in the orange drawer 2- put triangle in the orange drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put rectangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput rectangle in the orange drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 rectangle in the orange drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: put rectangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer Q: immediate next step? \u003cPRED\u003eA: put rectangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put rectangle in the orange drawer\n\u003c/PRED\u003e","video":"628987469061698325.mp4"}
+{"uid":"570787012266318210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack up the first two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack up the first two paper glasses on the stacked paper glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7881658343471728708.mp4"}
+{"uid":"6997457185011875136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8957692902603970400.mp4"}
+{"uid":"10404631223941897180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9662521977137052526.mp4"}
+{"uid":"1246971348432622565","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":"6516410701217972008.mp4"}
+{"uid":"3076061607364125282","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- stack the gripper 3- done\n\u003c/PRED\u003e","video":"2303661884843864059.mp4"}
+{"uid":"2494092343327311894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16063115902920338492.mp4"}
+{"uid":"15120162854374990046","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the gripper 3- done\n\u003c/PRED\u003e","video":"1085061993798427338.mp4"}
+{"uid":"18218908612917020392","text":"\u003ctask:success:discrete:True\u003e\nput sphere in the yellow drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put sphere in the yellow drawer\n\u003c/PRED\u003e","video":"2130433063767631763.mp4"}
+{"uid":"14940690153420941612","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put sphere in the yellow drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sphere in the yellow drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sphere in the yellow drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sphere in the yellow drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer 5- put rectangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: put sphere in the yellow drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sphere in the yellow drawer\n\u003c/PRED\u003e","video":"9522096839124045870.mp4"}
+{"uid":"4939700139847852533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6953032845665613383.mp4"}
+{"uid":"8606058602839602180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7776871317970817965.mp4"}
+{"uid":"18282748952282098365","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put triangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer 5- put rectangle in the orange drawer 6- put triangle in the orange drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer 5- put rectangle in the orange drawer 6- put triangle in the orange drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput triangle in the orange 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":"15068078221739720078.mp4"}
+{"uid":"12841131204644615465","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack up the first two paper glasses on the stacked paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder Q: immediate next step? \u003cPRED\u003eA: Stack up the first two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack up the first two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack up the first two paper glasses on the stacked paper glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack up the first two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Stack up the first two paper glasses on the stacked paper glasses 2- stack the gripper 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Stack up the first two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e","video":"18243985959745061958.mp4"}
+{"uid":"15062827852166822579","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spatula in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spatula in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spatula in the middle 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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spatula in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spatula in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spatula in the middle holder 2- Put the tong in the left holder 3- stack the glass 4- stack the gripper 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spatula in the middle holder\n\u003c/PRED\u003e","video":"12261533262895966049.mp4"}
+{"uid":"15841764422781188990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4873284340137067559.mp4"}
+{"uid":"15151033014311173132","text":"\u003ctask:success:discrete:False\u003e\nStack up the second two paper glasses on the stacked paper glasses Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack up the second two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack up the second two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack up the second two paper glasses on the stacked paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack up the second two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: Stack up the second two paper glasses on the stacked paper glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder 2- Put the plastic spatula in the middle holder 3- Put the tong in the left holder 4- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack up the second two paper glasses on the stacked paper glasses 2- done\n\u003c/PRED\u003e","video":"15141186157639910462.mp4"}
+{"uid":"1851743133846215817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spatula in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic spatula in the middle 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":"5323519962299983259.mp4"}
+{"uid":"8367042250047114082","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":"12979448615592229315.mp4"}
+{"uid":"14867577971400144366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the steel spatula in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the steel spatula in the right 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":"6075776120453507081.mp4"}
+{"uid":"10866518465214482274","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put triangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. Q: immediate next step? \u003cPRED\u003eA: put triangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put triangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer 5- put rectangle in the orange drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put triangle in the orange drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please insert the matching block into the holes on top of the puzzle drawer. last 20 steps: 1- put sphere in the yellow drawer 2- put diamond in the blue drawer 3- put square in the blue drawer 4- put circle in the yellow drawer 5- put rectangle in the orange drawer Q: immediate next step? \u003cPRED\u003eA: put triangle in the orange drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput triangle in the orange drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 triangle in the orange drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7553691659272454561.mp4"}
+{"uid":"14963136189841741529","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. Q: immediate next step? \u003cPRED\u003eA: place the   tongs\n in the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the   tongs\n in the spoon 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   tongs\n in the spoon holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the   tongs\n in the spoon holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the   tongs\n in the spoon holder 2- stack the glass 3- stack the gripper 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the   tongs\n in the spoon 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 scoopers and tong into the bins, then stack the cups. last 20 steps: 1- Put the steel spatula in the right holder Q: immediate next step? \u003cPRED\u003eA: place the   tongs\n in the spoon holder\n\u003c/PRED\u003e","video":"7518411058084375274.mp4"}
+{"uid":"4996313127783576366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fish in the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- put the fish in the plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fish in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- put the fish in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3261670798250976991.mp4"}
+{"uid":"15537377423212925456","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  Banana  on the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put  Banana  on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  Banana  on 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: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl Q: immediate next step? \u003cPRED\u003eA: put  Banana  on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  Banana  on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  Banana  on 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: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put  Banana  on the bowl 2- done\n\u003c/PRED\u003e","video":"13761540001221046098.mp4"}
+{"uid":"5301288968260365248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"210915670820863793.mp4"}
+{"uid":"12431818848277876606","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":"7163262708538701014.mp4"}
+{"uid":"12924404128620611721","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- Drop fish toy into tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: Drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange into bowl\n\u003c/PRED\u003e","video":"4108347826780532587.mp4"}
+{"uid":"8000135371779602836","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear on 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: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear on the bowl 2- Drop fish toy into tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put the pear on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear on 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: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl Q: immediate next step? \u003cPRED\u003eA: put the pear on the bowl\n\u003c/PRED\u003e","video":"8901786444660421463.mp4"}
+{"uid":"13500839247167312613","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin Q: immediate next step? \u003cPRED\u003eA: Drop the coffee cup in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the coffee cup in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin. last 20 steps: 1- Get the coffee cup near to the basin 2- Pour the coffee in the basin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the coffee cup in the trash 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the coffee cup in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin. last 20 steps: 1- Get the coffee cup near to the basin 2- Pour the coffee in the basin Q: immediate next step? \u003cPRED\u003eA: Drop the coffee cup in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the coffee cup in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the coffee cup in the trash\n\u003c/PRED\u003e","video":"11487781614354359612.mp4"}
+{"uid":"8244436668544971304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow 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":"5935614057054912454.mp4"}
+{"uid":"4749475920703190149","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the bowl 2- Drop the banana into bowl 3- Drop fish toy into tray 4- done\n\u003c/PRED\u003e","video":"18004540036022663716.mp4"}
+{"uid":"8148656004283374104","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl Q: immediate next step? \u003cPRED\u003eA: Drop pear into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pear into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: Drop pear into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pear into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pear into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pear into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pear into bowl 2- Drop the banana into bowl 3- Drop fish toy into tray 4- done\n\u003c/PRED\u003e","video":"15596726688721802288.mp4"}
+{"uid":"2588662806122249139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"2006498802378881747.mp4"}
+{"uid":"1124972019965091872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11912102289602950642.mp4"}
+{"uid":"6402091666056565694","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table 2- place the tissue on the table 3- place the tissue on the table 4- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table 2- place the tissue on the table 3- place the tissue on the table 4- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8604366357533292686.mp4"}
+{"uid":"14733035144185948242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"99465576473735606.mp4"}
+{"uid":"3224159142621597044","text":"\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table 2- place the tissue on the table 3- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table 2- place the tissue on the table 3- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\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: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","video":"13147000764403014704.mp4"}
+{"uid":"15091348810941144450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7049007078029647907.mp4"}
+{"uid":"1089842238340157468","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17257478009658598331.mp4"}
+{"uid":"17027144224564287188","text":"\u003ctask:success:discrete:False\u003e\nPour the coffee in the basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 paper cups before throwing it into the compostables bin. last 20 steps: 1- Get the coffee cup near to the basin Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the coffee in the basin 2- Drop the coffee cup in the trash 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin Q: immediate next step? \u003cPRED\u003eA: Pour the coffee in the basin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the coffee in the basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the coffee in the basin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the coffee in the basin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin. last 20 steps: 1- Get the coffee cup near to the basin Q: immediate next step? \u003cPRED\u003eA: Pour the coffee in the basin\n\u003c/PRED\u003e","video":"15399695361784373050.mp4"}
+{"uid":"17067059685956472957","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":"13970813862255429964.mp4"}
+{"uid":"5214941362977476659","text":"\u003ctask:success:discrete:True\u003e\nPour the coffee in the basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the coffee in the basin\n\u003c/PRED\u003e","video":"12387302859705654567.mp4"}
+{"uid":"3423881431058604023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3181185525058049865.mp4"}
+{"uid":"13241420682343989867","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on 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: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put the orange on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the bowl 2- Drop the banana into bowl 3- Drop fish toy into tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on 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: moved fruits into bowl and put fish in plate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange on the bowl\n\u003c/PRED\u003e","video":"7864038976356652306.mp4"}
+{"uid":"13876068445335281850","text":"\u003ctask:success:discrete:False\u003e\nput the fish in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fish in the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put the fish in the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl Q: immediate next step? \u003cPRED\u003eA: put the fish in the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fish in the plate 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fish in the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fish in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18313061959714129526.mp4"}
+{"uid":"4095632615893614656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 6 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":"6587471301116753118.mp4"}
+{"uid":"9265072130481253128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1878738529697970717.mp4"}
+{"uid":"11965782087459923135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on 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":"9388737059755662364.mp4"}
+{"uid":"3059935619941227260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13469737216776879002.mp4"}
+{"uid":"16071362054924820987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11535376406696017130.mp4"}
+{"uid":"3433866218873792081","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask: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:planning:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- place the tissue on the table 3- place the tissue on the table 4- done\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: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":"2073405791624182046.mp4"}
+{"uid":"6079433280201052536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15547026375064678509.mp4"}
+{"uid":"399531405834378146","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: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: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- place the tissue on the table 3- place the tissue on the table 4- place the tissue on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: none Q: immediate next step? \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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e","video":"4689472916527631734.mp4"}
+{"uid":"3765337193974934230","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop fish toy into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop fish toy into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- Drop fish toy into tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- Drop fish toy into tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5998727861479508837.mp4"}
+{"uid":"11623993082014070509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pear into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pear 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":"13451699167958931328.mp4"}
+{"uid":"7375111003719762542","text":"\u003ctask:success:discrete:False\u003e\nDrop the banana into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the banana into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the banana into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl Q: immediate next step? \u003cPRED\u003eA: Drop the banana into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the banana into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: Drop the banana into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the banana into bowl 2- Drop fish toy into tray 3- done\n\u003c/PRED\u003e","video":"4697826174757528821.mp4"}
+{"uid":"8446927138225972459","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fish on the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- put the fish on the plate Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl 4- put the fish on the plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fish on the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13851345261976619078.mp4"}
+{"uid":"6219667275311274230","text":"\u003ctask:success:discrete:False\u003e\nGet the coffee cup near to the basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 paper cups before throwing it into the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Get the coffee cup near to the basin 2- Pour the coffee in the basin 3- Drop the coffee cup in the trash 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Get the coffee cup near to the basin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Get the coffee cup near to the basin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGet the coffee cup near to the basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Get the coffee cup near to the basin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin Q: immediate next step? \u003cPRED\u003eA: Get the coffee cup near to the basin\n\u003c/PRED\u003e","video":"14898136797562283790.mp4"}
+{"uid":"4001528384712740073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a 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":"16358311202121487986.mp4"}
+{"uid":"17848944343963894439","text":"\u003ctask:success:discrete:True\u003e\nGet the coffee cup near to the basin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Get the coffee cup near to the basin\n\u003c/PRED\u003e","video":"6467113762641317732.mp4"}
+{"uid":"52332236487619582","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3926757340178123832.mp4"}
+{"uid":"1088808444919900074","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16881515101757143249.mp4"}
+{"uid":"8479018607626200125","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: Drop fish toy into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl Q: immediate next step? \u003cPRED\u003eA: Drop fish toy into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop fish toy into tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop fish toy into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop fish toy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 fish toy into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop fish toy into tray\n\u003c/PRED\u003e","video":"8160152501333169585.mp4"}
+{"uid":"8674582752582782638","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the bowl\n\u003c/PRED\u003e","video":"5056817590761221511.mp4"}
+{"uid":"4307804198550539345","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the bowl 2- Drop fish toy into tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl Q: immediate next step? \u003cPRED\u003eA: put the pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate 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","video":"7105653289987118149.mp4"}
+{"uid":"14684116044757466651","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the coffee cup in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin. last 20 steps: 1- Get the coffee cup near to the basin 2- Pour the coffee in the basin 3- Drop the coffee cup in the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the coffee cup in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Empty paper cups before throwing it into the compostables bin. last 20 steps: 1- Get the coffee cup near to the basin 2- Pour the coffee in the basin 3- Drop the coffee cup in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14309284548811018626.mp4"}
+{"uid":"14867329860799351017","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":"15542087336856056630.mp4"}
+{"uid":"11763458596110092594","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":"14223642927666455169.mp4"}
+{"uid":"907614365566570112","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":"3391101363944206206.mp4"}
+{"uid":"16100090417544890834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14245603128457749137.mp4"}
+{"uid":"14836378222780886173","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table 2- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- place the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab me a few napkins from the sink area so I can wipe spill drinks. last 20 steps: 1- place the tissue on the table 2- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e","video":"6278373656533231222.mp4"}
+{"uid":"10783166563102731299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black 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":"11404368608076942163.mp4"}
+{"uid":"11735650575774702802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two pink packets on the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10996819951876195412.mp4"}
+{"uid":"7491923692241129088","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fish on the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fish on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fish on the plate 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fish on the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate Q: immediate next step? \u003cPRED\u003eA: put the fish on the plate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fish on the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: moved fruits into bowl and put fish in plate. last 20 steps: 1- Drop the orange into bowl 2- Drop pear into bowl 3- Drop the banana into bowl Q: immediate next step? \u003cPRED\u003eA: put the fish on the plate\n\u003c/PRED\u003e","video":"2466501871840957009.mp4"}
+{"uid":"13015158106952632864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10429797067359593776.mp4"}
+{"uid":"3375645345407980133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5691199180684611980.mp4"}
+{"uid":"15848143152874152225","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move to the paper cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the paper cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the paper cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the paper cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the paper cups 2- Move away 3- Pick up the hint bottle from the table 4- Drop the hint bottle in the white box 5- Push the pile of paper cups towards the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box Q: immediate next step? \u003cPRED\u003eA: Move to the paper cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the paper cups\n\u003c/PRED\u003e","video":"7081651971679574424.mp4"}
+{"uid":"6232970997548043798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7240648587279899271.mp4"}
+{"uid":"3216066006490560042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"870593221106510015.mp4"}
+{"uid":"4455059981514702707","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the hint bottle 2- Move to the paper cups 3- Move away 4- Pick up the hint bottle from the table 5- Drop the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box Q: immediate next step? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e","video":"7575760718851217818.mp4"}
+{"uid":"11383061969518670513","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":"14382964130665426400.mp4"}
+{"uid":"2536019106631760938","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":"17523779848407524751.mp4"}
+{"uid":"13976459041101550288","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the water bottle in the white box 2- Lift the black holder from the table 3- Put the black holder in the white box 4- Move away from the white box 5- Move to the paper cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the water bottle in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table Q: immediate next step? \u003cPRED\u003eA: Put the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Put the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the water bottle in the white 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":"14652267896217243563.mp4"}
+{"uid":"10737624853807303206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e","video":"10250685133684792201.mp4"}
+{"uid":"13261096091577016331","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Drop the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Drop the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black holder 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black holder 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: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black holder in the cardboard box 2- Move to the paper cups 3- Move away 4- Pick up the hint bottle from the table 5- Drop the hint bottle in the white box\n\u003c/PRED\u003e","video":"13493881320853317668.mp4"}
+{"uid":"2669340278831564275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the duster 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":"12737902715503472697.mp4"}
+{"uid":"11654493023765072006","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table 18- Put the pile of paper cups in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the white box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table 18- Put the pile of paper cups in the white box Q: immediate next step? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the white 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":"7394941969709917478.mp4"}
+{"uid":"9490481553310991733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two pink candies 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":"7588298747942505196.mp4"}
+{"uid":"3842297412031425840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5326489075102007255.mp4"}
+{"uid":"3040731178222458166","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the hint bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1994929499371920511.mp4"}
+{"uid":"3044805366799280912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the hint bottle in the white 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 hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the hint bottle in the white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the hint bottle in the white box 2- Push the pile of paper cups towards the white box 3- Pick up the pile of paper cups from the table 4- Put the pile of paper cups in the white box 5- Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the hint bottle in the white box\n\u003c/PRED\u003e","video":"15337064258623721873.mp4"}
+{"uid":"2234102680096618826","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the water bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the water bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the water bottle 2- Pick up the left water bottle from the table 3- Place the water bottle in the white box 4- Lift the black holder from the table 5- Put the black holder in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the water bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the water 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: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: immediate next step? \u003cPRED\u003eA: Pick up the water bottle\n\u003c/PRED\u003e","video":"17243251014138465196.mp4"}
+{"uid":"5063703346105265169","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Put the pile of paper cups in the carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Put the pile of paper cups in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pile of paper cups in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pile of paper cups in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5427037262001490282.mp4"}
+{"uid":"18323716217715980669","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the pile of paper cup from the table 2- Put the pile of paper cups in the white box 3- Move away from the white box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box Q: immediate next step? \u003cPRED\u003eA: Lift the pile of paper cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the pile of paper cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the pile of paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the pile of paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the pile of paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Lift the pile of paper cup from the table\n\u003c/PRED\u003e","video":"14351088842280882178.mp4"}
+{"uid":"8920599568032727023","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left water bottle from the table 2- Place the water bottle in the white box 3- Lift the black holder from the table 4- Put the black holder in the white box 5- Move away from the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the left water bottle 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 left water bottle 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 water bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left water bottle 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 left water bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Pick up the left water bottle from the table\n\u003c/PRED\u003e","video":"16168887527371578648.mp4"}
+{"uid":"17416800412418794555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"14840788464245521806.mp4"}
+{"uid":"13783252648627877314","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups Q: next 5 steps? \u003cPRED\u003eA: 1- Move away 2- Pick up the hint bottle from the table 3- Drop the hint bottle in the white box 4- Push the pile of paper cups towards the white box 5- Pick up the pile of paper cups from the table\n\u003c/PRED\u003e","video":"9595230730473916699.mp4"}
+{"uid":"11265081582536192907","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: immediate next step? \u003cPRED\u003eA: Move to the right side water bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right side water bottle 2- Drop the water bottle in the white box 3- Pick up the left water bottle from the table 4- Place the water bottle in the white box 5- Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right side water bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move to the right side water bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right side water bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right side water 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: Move to the right side water bottle\n\u003c/PRED\u003e","video":"13712424555914446037.mp4"}
+{"uid":"9492913585997879572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the chewing gum into the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18274007938032484364.mp4"}
+{"uid":"1540970474255712500","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to 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: put belongings into the box. last 20 steps: 1- Move back 2- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the bottle 2- Pick up the right water bottle from the table 3- Drop the water bottle in the white box 4- Pick up the left water bottle from the table 5- Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away Q: immediate next step? \u003cPRED\u003eA: Go to the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Go to the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to 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":"13890532124885632464.mp4"}
+{"uid":"17687688190298019945","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":"16860808218928218450.mp4"}
+{"uid":"15221182502994237268","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":"13095046793240193546.mp4"}
+{"uid":"15164445310889202329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7789628109662795297.mp4"}
+{"uid":"5144737320846096211","text":"\u003ctask:success:discrete:False\u003e\nDrop the hint bottle in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the hint bottle in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the hint bottle in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the hint bottle in the carton 2- Pick up the pile of paper cups from the table 3- Put the pile of paper cups in the white box 4- Move away from the white box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the hint bottle in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Drop the hint bottle in the carton\n\u003c/PRED\u003e","video":"18029045602315408605.mp4"}
+{"uid":"13859597867582026799","text":"\u003ctask:success:discrete:False\u003e\nLift the right side water bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Lift the right side water bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: immediate next step? \u003cPRED\u003eA: Lift the right side water bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the right side water bottle 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: Lift the right side water bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the right side water bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the right side water bottle from the table 2- Drop the water bottle in the white box 3- Pick up the left water bottle from the table 4- Place the water bottle in the white box 5- Lift the black holder from the table\n\u003c/PRED\u003e","video":"12697345365970789121.mp4"}
+{"uid":"590194808761594277","text":"\u003ctask:success:discrete:False\u003e\nPick up the hint bottle 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 hint bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the hint bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the hint bottle from the table 2- Drop the hint bottle in the white box 3- Push the pile of paper cups towards the white box 4- Pick up the pile of paper cups from the table 5- Put the pile of paper cups in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e","video":"8086672082101586249.mp4"}
+{"uid":"7168466649984830472","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the water bottle in the white 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":"2537907375264473956.mp4"}
+{"uid":"3972832895162929490","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black holder in the white box 2- Move away from the white box 3- Move to the paper cups 4- Move away 5- Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black holder in the white 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: Release the black holder in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Release the black holder in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black holder in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black holder in the white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table Q: immediate next step? \u003cPRED\u003eA: Release the black holder in the white box\n\u003c/PRED\u003e","video":"2979366973139636140.mp4"}
+{"uid":"621649540399249072","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8656082033560950071.mp4"}
+{"uid":"1507295067227912142","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the water bottle in the white box 2- Pick up the left water bottle from the table 3- Place the water bottle in the white box 4- Lift the black holder from the table 5- Put the black holder in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table Q: immediate next step? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the water bottle in the white 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 water bottle in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the water bottle in the white 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":"13525693452241536129.mp4"}
+{"uid":"4913171450854652031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sponge 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":"9106303600687782.mp4"}
+{"uid":"5941470021789450127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chip 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":"3198438268666077708.mp4"}
+{"uid":"18290194824035795864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left side black book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6713889012041255937.mp4"}
+{"uid":"16360001322511192351","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":"1652385539053115631.mp4"}
+{"uid":"816868747883376818","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the black holder 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: Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the black holder from the table 2- Put the black holder in the white box 3- Move away from the white box 4- Move to the paper cups 5- Move away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the black holder from the table\n\u003c/PRED\u003e","video":"10617454387157421652.mp4"}
+{"uid":"6270947472588181563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the dropped popcorn 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":"11514712361803406594.mp4"}
+{"uid":"10801194032772916488","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the pile of paper cups towards the white 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: Push the pile of paper cups towards the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Push the pile of paper cups towards the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the pile of paper cups towards the white 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: Push the pile of paper cups towards the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Push the pile of paper cups towards the white box 2- Pick up the pile of paper cups from the table 3- Put the pile of paper cups in the white box 4- Move away from the white box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Push the pile of paper cups towards the white box\n\u003c/PRED\u003e","video":"641322825978062958.mp4"}
+{"uid":"17369749632000083466","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Move away 2- Pick up the right water bottle from the table 3- Drop the water bottle in the white box 4- Pick up the left water bottle from the table 5- Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e","video":"255044743279306352.mp4"}
+{"uid":"218720089859213844","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Drop the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the water bottle in the white 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 water bottle in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the water bottle in the white box 2- Pick up the left water bottle from the table 3- Place the water bottle in the white box 4- Lift the black holder from the table 5- Put the black holder in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the water bottle in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table Q: immediate next step? \u003cPRED\u003eA: Drop the water bottle in the white box\n\u003c/PRED\u003e","video":"1502892759695555551.mp4"}
+{"uid":"12551553878845093347","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":"4009805992360919294.mp4"}
+{"uid":"11937163391895869446","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right water bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the right water bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right water bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right water bottle from the table 2- Drop the water bottle in the white box 3- Pick up the left water bottle from the table 4- Place the water bottle in the white box 5- Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right water bottle 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 right water bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away Q: immediate next step? \u003cPRED\u003eA: Pick up the right water bottle from the table\n\u003c/PRED\u003e","video":"4487773713395209425.mp4"}
+{"uid":"18162334039820693265","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pile of paper cups in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pile of paper cups in the carton 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box Q: immediate next step? \u003cPRED\u003eA: Put the pile of paper cups in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pile of paper cups in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pile of paper cups in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pile of paper cups in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Put the pile of paper cups in the carton\n\u003c/PRED\u003e","video":"18294144794051414481.mp4"}
+{"uid":"16591658640059245937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2454678238922528932.mp4"}
+{"uid":"4405284196225984359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the hint bottle from the table 2- Push the pile of paper cups towards the white box 3- Pick up the pile of paper cups from the table 4- Put the pile of paper cups in the white box 5- Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away Q: immediate next step? \u003cPRED\u003eA: Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the hint bottle 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 hint bottle from the table\n\u003c/PRED\u003e","video":"2850214512366443233.mp4"}
+{"uid":"1701983828057883139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8110730329669124712.mp4"}
+{"uid":"2955986668802289546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the right 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":"18409414054053840798.mp4"}
+{"uid":"4614007326199766839","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the hint bottle in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the hint bottle in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12173566159341951001.mp4"}
+{"uid":"9881047767731937053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12705525161481178678.mp4"}
+{"uid":"11297642547537098667","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pile of paper cups in the white box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pile of paper cups 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: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Put the pile of paper cups in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pile of paper cups in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table Q: immediate next step? \u003cPRED\u003eA: Put the pile of paper cups in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pile of paper cups in the white box 2- Move away from the white box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pile of paper cups in the white 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 pile of paper cups in the white 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":"10277309302467692570.mp4"}
+{"uid":"10289418178966045783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky note in middle bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11179562428592861941.mp4"}
+{"uid":"16991023451331699473","text":"\u003ctask:success:discrete:True\u003e\nMove to the paper cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the paper cups\n\u003c/PRED\u003e","video":"11382010225519655874.mp4"}
+{"uid":"7217274322253492130","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13663600487768508260.mp4"}
+{"uid":"15606273666263369988","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the water bottle in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the water bottle in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the water bottle in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Throw the water bottle in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the water bottle in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the water bottle in the carton 2- Put the black holder in the white box 3- Move away from the white box 4- Move to the paper cups 5- Move away\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Throw the water bottle in the carton\n\u003c/PRED\u003e","video":"112270683464174215.mp4"}
+{"uid":"4113155786677781573","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black holder in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the black holder 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":"3960448337898157442.mp4"}
+{"uid":"8583662068276944311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy 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":"15443178151326798478.mp4"}
+{"uid":"14759880235871786482","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":"8321644593029542537.mp4"}
+{"uid":"13121503940490637202","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the black holder 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\nLift the black holder 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: Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the black holder from the table 2- Put the black holder in the white box 3- Move away from the white box 4- Move to the paper cups 5- Move away\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table Q: immediate next step? \u003cPRED\u003eA: Lift the black holder from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the black holder from the table\n\u003c/PRED\u003e","video":"13307118607368403225.mp4"}
+{"uid":"2860796571733527611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup 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":"10984985956662807146.mp4"}
+{"uid":"12341160683544433138","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black holder in the white box 2- Move away from the white box 3- Move to the paper cups 4- Move away 5- Pick up the hint bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black holder in the white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Put the black holder in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black holder in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table Q: immediate next step? \u003cPRED\u003eA: Put the black holder in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black holder in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black holder in the white box\n\u003c/PRED\u003e","video":"9154582682899130453.mp4"}
+{"uid":"10953065109319571706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tomato 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":"3400712640780621326.mp4"}
+{"uid":"17653348704840169471","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":"17986594761631565471.mp4"}
+{"uid":"10173657914794877977","text":"\u003ctask:success:discrete:False\u003e\nMove away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back Q: next 5 steps? \u003cPRED\u003eA: 1- Move away 2- Go to the bottle 3- Move away 4- Pick up the right water bottle from the table 5- Drop the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e","video":"16829044519314726917.mp4"}
+{"uid":"13123251084268861546","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the water bottle in the white box 2- Put the black holder in the white box 3- Move away from the white box 4- Move to the paper cups 5- Move away\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table Q: immediate next step? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Place the water bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the water bottle in the white 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 water bottle in the white 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 water bottle in the white box\n\u003c/PRED\u003e","video":"10791420772279233407.mp4"}
+{"uid":"816535064038316666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4348302708328083550.mp4"}
+{"uid":"9077922516650291717","text":"\u003ctask:success:discrete:False\u003e\nRelease the hint bottle in the white 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: Release the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Release the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the hint bottle in the white 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: Release the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table Q: immediate next step? \u003cPRED\u003eA: Release the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the hint bottle in the white box 2- Push the pile of paper cups towards the white box 3- Pick up the pile of paper cups from the table 4- Put the pile of paper cups in the white box 5- Move away from the white box\n\u003c/PRED\u003e","video":"7021668741557924515.mp4"}
+{"uid":"17237759826731505932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen 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":"7821024048973575819.mp4"}
+{"uid":"9098358108932164605","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table Q: immediate next step? \u003cPRED\u003eA: Put it in the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut it 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put it in the carton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Put it in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut it 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put it in the carton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put it in the carton box 2- Place the water bottle in the white box 3- Lift the black holder from the table 4- Put the black holder in the white box 5- Move away from the white box\n\u003c/PRED\u003e","video":"1255771600088340434.mp4"}
+{"uid":"15354954708233647594","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box Q: immediate next step? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pile of paper cups from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pile of paper cups from the table 2- Put the pile of paper cups in the white box 3- Move away from the white box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pile of paper cups 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 pile of paper cups from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pile of paper cups from the table\n\u003c/PRED\u003e","video":"10669558708065893851.mp4"}
+{"uid":"5653114132381295063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes on 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":"8458884243301869142.mp4"}
+{"uid":"12250468960043952984","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Lift the pile of paper cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the pile of paper cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the pile of paper cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the pile of paper cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the pile of paper cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Lift the pile of paper cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the pile of paper cups 2- Put the pile of paper cups in the white box 3- Move away from the white box 4- done\n\u003c/PRED\u003e","video":"4279418163445826553.mp4"}
+{"uid":"13380428695296841165","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":"16336846326887054673.mp4"}
+{"uid":"3243178995906580976","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the water bottle in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the water bottle in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"204402817822496883.mp4"}
+{"uid":"6496417534426239589","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box Q: immediate next step? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the white box 2- Move to the paper cups 3- Move away 4- Pick up the hint bottle from the table 5- Drop the hint bottle in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the white 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:False\u003e\nput the pistachio in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4167721111149582394.mp4"}
+{"uid":"14728653557787835679","text":"\u003ctask:success:discrete:False\u003e\nPick up the water bottle 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 water bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box Q: immediate next step? \u003cPRED\u003eA: Pick up the water bottle from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the water bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Pick up the water bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the water bottle from the table 2- Place the water bottle in the white box 3- Lift the black holder from the table 4- Put the black holder in the white box 5- Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the water bottle from the table\n\u003c/PRED\u003e","video":"12968121623777360174.mp4"}
+{"uid":"1920313056620218260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3276188054691983889.mp4"}
+{"uid":"7989062836351387181","text":"\u003ctask:success:discrete:True\u003e\nDrop the water bottle in the white 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 water bottle in the white box\n\u003c/PRED\u003e","video":"2072760692505927433.mp4"}
+{"uid":"466549522480200452","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":"12338895067560342471.mp4"}
+{"uid":"7111453078957287840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11913437535575998540.mp4"}
+{"uid":"1401504329529527881","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pile of paper glass in the white box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pile of paper glass in the white box 2- Move away from the white box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Put the pile of paper glass in the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pile of paper glass in the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pile of paper glass in the white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table Q: immediate next step? \u003cPRED\u003eA: Put the pile of paper glass in the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pile of paper glass in the white box\n\u003c/PRED\u003e","video":"8747930763961577399.mp4"}
+{"uid":"16483088142329732488","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table 18- Put the pile of paper cups in the white box Q: immediate next step? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the white box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put belongings into the box Q: immediate next step? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the white box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put belongings into the box. last 20 steps: 1- Move back 2- Move away 3- Go to the bottle 4- Move away 5- Pick up the right water bottle from the table 6- Drop the water bottle in the white box 7- Pick up the left water bottle from the table 8- Place the water bottle in the white box 9- Lift the black holder from the table 10- Put the black holder in the white box 11- Move away from the white box 12- Move to the paper cups 13- Move away 14- Pick up the hint bottle from the table 15- Drop the hint bottle in the white box 16- Push the pile of paper cups towards the white box 17- Pick up the pile of paper cups from the table 18- Put the pile of paper cups in the white box Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the white box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the white 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":"3654521453044384951.mp4"}
+{"uid":"11539316793906506983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue can in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4133349028423663420.mp4"}
+{"uid":"1590971206713610793","text":"\u003ctask:success:discrete:True\u003e\npick the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e","video":"16725585382727865895.mp4"}
+{"uid":"11845954522532286307","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black marker 2- pick up the blue marker 3- place the blue marker in the middle glass 4- pick up  the 5- put the marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black 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 black marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e","video":"13141691036190664773.mp4"}
+{"uid":"17855313036863434444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black marker in the right glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black marker in the right 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":"14806103221678125888.mp4"}
+{"uid":"13699271854107826376","text":"\u003ctask:success:discrete:True\u003e\npick up  the Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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\n\u003c/PRED\u003e","video":"8664911699437971176.mp4"}
+{"uid":"10688848057391654342","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the middle glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue marker in the middle 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":"8617470525884992226.mp4"}
+{"uid":"4587245366771322606","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15504465577493472297.mp4"}
+{"uid":"2493183542047571440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7384359093662695933.mp4"}
+{"uid":"268487886403315956","text":"\u003ctask:success:discrete:True\u003e\npick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e","video":"18072874053110729.mp4"}
+{"uid":"8970666120938418177","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9966849650790769266.mp4"}
+{"uid":"5498508718100701738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14609411423370527268.mp4"}
+{"uid":"15814979822674954790","text":"\u003ctask:success:discrete:False\u003e\nput the marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the Q: immediate next step? \u003cPRED\u003eA: put the marker in the glass\n\u003c/PRED\u003e","video":"12434473486993903556.mp4"}
+{"uid":"13186074625417447185","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the 6- put the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the 6- put the marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11097589127966011981.mp4"}
+{"uid":"13459561311157609493","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the middle glass 2- pick up  the 3- put the marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the middle glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the middle 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: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the middle glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker in the middle glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker in the middle 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: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the middle glass\n\u003c/PRED\u003e","video":"3840157715128321394.mp4"}
+{"uid":"16517995502617577338","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker Q: immediate next step? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker into the cup 2- pick up  the 3- put the marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e","video":"2094994879437203351.mp4"}
+{"uid":"1752292988840414084","text":"\u003ctask:success:discrete:True\u003e\npick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e","video":"10802164200823610530.mp4"}
+{"uid":"78894228627008870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3805978124235085879.mp4"}
+{"uid":"9206984208002034475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3444021753247318668.mp4"}
+{"uid":"8603150312577397243","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue 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 the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker 2- place the blue marker in the middle glass 3- pick up  the 4- put the marker in the glass 5- done\n\u003c/PRED\u003e","video":"15068417324201837446.mp4"}
+{"uid":"8906366181773644584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace fish 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":"9550215395541374301.mp4"}
+{"uid":"8709233228693104257","text":"\u003ctask:success:discrete:True\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e","video":"3936163869052278750.mp4"}
+{"uid":"10151241236336074978","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":"10105352170705687082.mp4"}
+{"uid":"7732197297121624693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11867398460049652414.mp4"}
+{"uid":"1706312556717406644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the sheet up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7204507774321048857.mp4"}
+{"uid":"4790272724439955051","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange marker in the left glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: place the orange marker in the left glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange marker in the left 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 the orange marker in the left glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the Q: immediate next step? \u003cPRED\u003eA: place the orange marker in the left glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange marker in the left glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange marker in the left glass\n\u003c/PRED\u003e","video":"4380407528330443009.mp4"}
+{"uid":"15293877687280737941","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue marker 2- place the blue marker in the middle glass 3- pick up  the 4- put the marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue 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 blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e","video":"2311932971824483267.mp4"}
+{"uid":"12346137089822792252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6271798742204945184.mp4"}
+{"uid":"8169775955535286584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11928114291644156773.mp4"}
+{"uid":"11942672219179508083","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the glass 2- pick up the blue marker 3- place the blue marker in the middle glass 4- pick up  the 5- put the marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e","video":"9869003275794949218.mp4"}
+{"uid":"2329586045091954225","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker into the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16927534007798588343.mp4"}
+{"uid":"4876372068774292149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14790531788336499904.mp4"}
+{"uid":"6176990264106838702","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":"17027223376080308536.mp4"}
+{"uid":"13477525404765828807","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":"15594490650141025478.mp4"}
+{"uid":"15778097184546119834","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black 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":"656243533490741801.mp4"}
+{"uid":"737491473032508989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper 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":"3287855750347887435.mp4"}
+{"uid":"14499272834189423882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11100882970051994214.mp4"}
+{"uid":"2166924638163527254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13422075089702506099.mp4"}
+{"uid":"1309213612551616154","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black marker 2- pick up the blue marker 3- place the blue marker in the middle glass 4- pick up  the 5- put the marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black 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:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e","video":"7845676876232166975.mp4"}
+{"uid":"13420594972095058133","text":"\u003ctask:success:discrete:False\u003e\npick up  the Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass Q: immediate next step? \u003cPRED\u003eA: pick up  the\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up  the\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up  the 2- put the marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up  the\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up  the Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up  the\n\u003c/PRED\u003e","video":"5345733948339548159.mp4"}
+{"uid":"17852483197802432007","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- put the orange marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- put the orange marker into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11592056393076923780.mp4"}
+{"uid":"15223754937902181808","text":"\u003ctask:success:discrete:True\u003e\nput the black marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e","video":"14954772105315098022.mp4"}
+{"uid":"15320135338764834219","text":"\u003ctask:success:discrete:False\u003e\npick up the orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass Q: immediate next step? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange 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:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange marker 2- done\n\u003c/PRED\u003e","video":"55272473772066247.mp4"}
+{"uid":"995666797022427714","text":"\u003ctask:success:discrete:True\u003e\npick up the orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up the orange marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up the orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17224628326006708256.mp4"}
+{"uid":"2368676703644518641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper cup 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":"16956343603362028585.mp4"}
+{"uid":"5675702884450427949","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker Q: immediate next step? \u003cPRED\u003eA: place the black marker in the right glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black marker in the right 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: place the black marker in the right glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black marker in the right glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the black marker in the right glass 2- pick up the blue marker 3- place the blue marker in the middle glass 4- pick up  the 5- put the marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: place the black marker in the right glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black marker in the right 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":"8685906845680651539.mp4"}
+{"uid":"15124230052507489505","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker into the cup 2- pick up the blue marker 3- place the blue marker in the middle glass 4- pick up  the 5- put the marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker Q: immediate next step? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e","video":"9785961251811759250.mp4"}
+{"uid":"6841578353904146518","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker into the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e","video":"14438052216079256803.mp4"}
+{"uid":"5894106566929563323","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the 6- place the orange marker in the left glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange marker in the left 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 the orange marker in the left glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the 6- place the orange marker in the left glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13391498966244860994.mp4"}
+{"uid":"725992128249149015","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue 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:success:discrete:False\u003e\npick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue marker 2- place the blue marker in the middle glass 3- pick up  the 4- put the marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e","video":"9269845014745353595.mp4"}
+{"uid":"14774850627405157586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick spray 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":"14958886896562708431.mp4"}
+{"uid":"4749446820189308708","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the 6- put the orange marker into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker in the glass 3- pick up the blue marker 4- place the blue marker in the middle glass 5- pick up  the 6- put the orange marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground. please pick them up and sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9447664884947615042.mp4"}