diff --git "a/json/train/data-00028-of-00160.json" "b/json/train/data-00028-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00028-of-00160.json"
@@ -0,0 +1,217 @@
+{"uid":"5485449621312341015","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":"8223602334349923721.mp4"}
+{"uid":"15984143795423897203","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":"17854939821214474825.mp4"}
+{"uid":"3926428954477968001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- Unstack a bowl 3- Unstack a bowl 4- Unstack the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"10324028354325108451.mp4"}
+{"uid":"17804440332529417515","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl 2- Unstack the bowl 3- place orange in the bowl 4- place orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e","video":"18111632147662566316.mp4"}
+{"uid":"9818108348098528447","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- place orange in the bowl 3- Put an orange in empty bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"1749219008633071481.mp4"}
+{"uid":"12491702724989594159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4343643179415884961.mp4"}
+{"uid":"12064179961039274499","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place orange in the bowl 3- place orange in the bowl 4- Put an orange in empty bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"17136816951910558318.mp4"}
+{"uid":"12766028299314509041","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in empty bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17765525098338708766.mp4"}
+{"uid":"11798518302571909230","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl 11- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl 11- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"6848721200672823579.mp4"}
+{"uid":"13063787016269137912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red unreal 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":"18001263628655232946.mp4"}
+{"uid":"11799758568560685080","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":"11596701210167227431.mp4"}
+{"uid":"7186519261582567728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the tray to the center of the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4258982148992108120.mp4"}
+{"uid":"16770835561203875482","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a bowl 2- Unstack the bowl 3- place orange in the bowl 4- place orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9635186164600676350.mp4"}
+{"uid":"4502134938786556413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange candy into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2572994985814488214.mp4"}
+{"uid":"7972383233302123701","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- place orange in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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":"9424658047430031207.mp4"}
+{"uid":"9984052153113990408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  blue highlighter in the third white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9482848780357705457.mp4"}
+{"uid":"9102552461894102295","text":"\u003ctask:success:discrete:False\u003e\nUnstack 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: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the bowl 2- place orange in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack the bowl\n\u003c/PRED\u003e","video":"12702715749766368819.mp4"}
+{"uid":"11917132247924933838","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"12530627432454183316.mp4"}
+{"uid":"10030604204784160954","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut an orange in empty 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":"3801095258953262076.mp4"}
+{"uid":"12240920219150774531","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- place orange in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"16576293448150069759.mp4"}
+{"uid":"15298533422624384179","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"15122447600088344587.mp4"}
+{"uid":"13651552615827013720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the dry fruit in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16372007492258955557.mp4"}
+{"uid":"9366881546155763459","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a 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: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a glass 3- Unstack a bowl 4- Unstack a bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e","video":"16966140562190380585.mp4"}
+{"uid":"17810466915463212682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4052913970150598799.mp4"}
+{"uid":"8168172741929203954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13557331869025717855.mp4"}
+{"uid":"17687783221856452227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids on the existing lid stack in the spinning display Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6133407795472352591.mp4"}
+{"uid":"7305266592354378442","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":"1906277234746092059.mp4"}
+{"uid":"13520703710818201903","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":"11969379027240703985.mp4"}
+{"uid":"16233071945649591430","text":"\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the cup\n\u003c/PRED\u003e","video":"17268189494223149741.mp4"}
+{"uid":"7543907895085760221","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"3677139505776647112.mp4"}
+{"uid":"3320476562292917713","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the orange cup 2- Unstack a glass 3- Unstack a bowl 4- Unstack a bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the orange 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\nunstack the orange 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: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e","video":"8295736647505694007.mp4"}
+{"uid":"9957960515586837264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2131264265432801205.mp4"}
+{"uid":"14791528173168378103","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the orange cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the orange 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the orange cup 2- Unstack a bowl 3- Unstack the bowl 4- place orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e","video":"5552291175585209816.mp4"}
+{"uid":"2923895484539070228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl 11- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl 11- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9903279781416854572.mp4"}
+{"uid":"11859846268708388750","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in a bowl 2- place orange in the bowl 3- Put an orange in empty bowl 4- done\n\u003c/PRED\u003e","video":"3851685268195605990.mp4"}
+{"uid":"3360893220701074509","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a bowl 2- Unstack a bowl 3- Unstack the bowl 4- place orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3305126935354837718.mp4"}
+{"uid":"6624936883048173594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6505665294931964448.mp4"}
+{"uid":"6188774992662757602","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":"9501728525707594050.mp4"}
+{"uid":"1694596100274203995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace cups inside the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17135018332459488545.mp4"}
+{"uid":"6935594525120764607","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in empty bowl 2- Put an orange in empty bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e","video":"3431846869503113499.mp4"}
+{"uid":"16807937889265456702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15613990572829498047.mp4"}
+{"uid":"17654265656172683540","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":"6798908223788003678.mp4"}
+{"uid":"9437435714150727936","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":"3923813386826887443.mp4"}
+{"uid":"9067182960806930411","text":"\u003ctask:success:discrete:True\u003e\nunstack the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e","video":"11219619121252017549.mp4"}
+{"uid":"18414900304327009272","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an orange in empty bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in empty bowl 2- Put an orange in empty bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e","video":"11388970903393788865.mp4"}
+{"uid":"13219490878469038173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from 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":"11400400689821772361.mp4"}
+{"uid":"5046515600333648067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16029241046097174440.mp4"}
+{"uid":"15773845130092083658","text":"\u003ctask:success:discrete:False\u003e\nunstack 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the green cup 2- Unstack a bowl 3- Unstack a bowl 4- Unstack the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the green cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the green cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the green cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the green cup\n\u003c/PRED\u003e","video":"16718460247827885573.mp4"}
+{"uid":"13740654828334107444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the orange cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the orange 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":"1116350875647545260.mp4"}
+{"uid":"14914318418590276693","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a bowl 3- Unstack a bowl 4- Unstack the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e","video":"5237915768242570004.mp4"}
+{"uid":"1459786032206941062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack a 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":"17641065027539366088.mp4"}
+{"uid":"13559886621202808750","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a 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: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e","video":"15944795123907653167.mp4"}
+{"uid":"14635882066900596497","text":"\u003ctask:success:discrete:True\u003e\nUnstack a 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 a glass\n\u003c/PRED\u003e","video":"1184591973684985819.mp4"}
+{"uid":"15563298750599237243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"11116248120627647288.mp4"}
+{"uid":"5137687366523405670","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- Unstack a bowl 3- Unstack the bowl 4- place orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"8918404911100077085.mp4"}
+{"uid":"15120680396367313511","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack a 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":"11358154666125850699.mp4"}
+{"uid":"14525942883881588295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the dark blue object 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":"17497317074008277311.mp4"}
+{"uid":"10931662660543678874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7855660992859019822.mp4"}
+{"uid":"2365864120995896841","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- Unstack a glass 3- Unstack a bowl 4- Unstack a bowl 5- Unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"9943707251474551457.mp4"}
+{"uid":"14010746939453991158","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl 2- place orange in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e","video":"7533461688673483364.mp4"}
+{"uid":"12632019589206005983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachios into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18409794316567714136.mp4"}
+{"uid":"2454306040698467656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3519940356188843331.mp4"}
+{"uid":"15925256293007511804","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl 11- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl 11- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"83954530079811590.mp4"}
+{"uid":"11610369446463847100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- Unstack a bowl 3- Unstack a bowl 4- Unstack the bowl 5- place orange in the bowl\n\u003c/PRED\u003e","video":"6312592990372718996.mp4"}
+{"uid":"14677637199357759799","text":"\u003ctask:success:discrete:True\u003e\nUnstack a 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 a glass\n\u003c/PRED\u003e","video":"13047738767374043769.mp4"}
+{"uid":"10549138542725095519","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":"11847473428744128832.mp4"}
+{"uid":"9269087075885080607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 2 glasses in stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4393580497029222828.mp4"}
+{"uid":"9881507114625294041","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- place orange in the bowl 3- place orange in the bowl 4- Put an orange in empty bowl 5- done\n\u003c/PRED\u003e","video":"5368432099044713944.mp4"}
+{"uid":"2102196947845744522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the star shaped block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16373713456345154638.mp4"}
+{"uid":"11596631607031894266","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place orange in the bowl 3- Put an orange in empty bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"112763247864046760.mp4"}
+{"uid":"16030213553809248440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"9137297700899859079.mp4"}
+{"uid":"14380863005255845243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick 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":"6425827239797918077.mp4"}
+{"uid":"5879857239785160147","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17573459012863155119.mp4"}
+{"uid":"2001390831854908175","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a 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: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a bowl 5- Unstack a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass Q: immediate next step? \u003cPRED\u003eA: Unstack a glass\n\u003c/PRED\u003e","video":"8711443930623885119.mp4"}
+{"uid":"572294322180159913","text":"\u003ctask:success:discrete:True\u003e\nunstack the green 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: unstack the green cup\n\u003c/PRED\u003e","video":"10521593123548391942.mp4"}
+{"uid":"953422369958343102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple 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":"9289192910988385969.mp4"}
+{"uid":"14107323486545312742","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":"5692909480377028325.mp4"}
+{"uid":"15920458308652698260","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the  cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the  cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the  cup 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the  cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the  cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the  cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the  cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15395368773958804240.mp4"}
+{"uid":"578477478048823963","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl 2- place orange in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- Put an orange in empty bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e","video":"17747559098354338831.mp4"}
+{"uid":"7936226264615447325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"500850883803101359.mp4"}
+{"uid":"11303166510839295022","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- Unstack a glass 2- Unstack a glass 3- Unstack a glass 4- Unstack a glass 5- Unstack a glass 6- Unstack a bowl 7- Unstack a bowl 8- Unstack the bowl 9- place orange in the bowl 10- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"9506226139533791990.mp4"}
+{"uid":"5957179682753118026","text":"\u003ctask:success:discrete:True\u003e\nPut an orange in empty bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an orange in empty bowl\n\u003c/PRED\u003e","video":"17766482112960640217.mp4"}
+{"uid":"12869459733404532775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toy in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11757898238357222455.mp4"}
+{"uid":"9992871688159197406","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder 7- put blue pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder 7- put blue pen in holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10147437737301668467.mp4"}
+{"uid":"3246783660400956386","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in holder 2- drop the blue pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e","video":"11175824478992320809.mp4"}
+{"uid":"14473167483592726950","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":"2396255316438482907.mp4"}
+{"uid":"4294882916257889786","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12747411519458345858.mp4"}
+{"uid":"657886734668718488","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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":"1074219212449744281.mp4"}
+{"uid":"13382105878124620021","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue pen in a pen holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e","video":"16453755706948821746.mp4"}
+{"uid":"1090690352904427449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8396858321421714225.mp4"}
+{"uid":"11984476750127097951","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"11981281504898409533.mp4"}
+{"uid":"15094005296881739766","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3888798338637839415.mp4"}
+{"uid":"4061123073135114105","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the blue pen in a pen holder 4- drop the orange pen in a pen holder 5- drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e","video":"13439116627369742103.mp4"}
+{"uid":"6685302064801312886","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":"4013219025946007279.mp4"}
+{"uid":"6250782823907461408","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"17338605522312640779.mp4"}
+{"uid":"8154838255534410593","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10357899144527339111.mp4"}
+{"uid":"18367487141961508947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6996282786975497435.mp4"}
+{"uid":"10010814922173247871","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a plastic knife inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10787689469137278068.mp4"}
+{"uid":"4256486041445811218","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12870214670913294650.mp4"}
+{"uid":"2680435009123566502","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in holder 2- drop the blue pen in a pen holder 3- drop the blue pen in a pen holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e","video":"8052668052669786857.mp4"}
+{"uid":"10654631426051219200","text":"\u003ctask:success:discrete:True\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e","video":"5608078010885486796.mp4"}
+{"uid":"2306168090650033171","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e","video":"3991736895736687702.mp4"}
+{"uid":"14311366025497831971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2616041092572701231.mp4"}
+{"uid":"807696514694915540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen 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":"6846585277406513203.mp4"}
+{"uid":"6927105171534453831","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue 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":"6873579963402492476.mp4"}
+{"uid":"12158226496640810164","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder 7- Put the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder 7- Put the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13679161270373985515.mp4"}
+{"uid":"2076087242055844545","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11458354504395060664.mp4"}
+{"uid":"14609683007196485043","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- drop the blue pen in a pen holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"17929278004643195541.mp4"}
+{"uid":"4382663377078573811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9796325151600598146.mp4"}
+{"uid":"12549818029734538588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pads 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":"11944865418649253580.mp4"}
+{"uid":"18370308014652498724","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue 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 blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- drop the blue pen in a pen holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue 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 blue 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":"18389924010113557511.mp4"}
+{"uid":"12057944296783517201","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange pen in a pen holder 2- drop the blue pen in a pen holder 3- drop the blue pen in a pen holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e","video":"12467747902229001695.mp4"}
+{"uid":"5859355654704070311","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15269013428762156936.mp4"}
+{"uid":"16317001773026411921","text":"\u003ctask:success:discrete:False\u003e\nPut the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the holder 2- drop the orange pen in a pen holder 3- drop the blue pen in a pen holder 4- drop the orange pen in a pen holder 5- drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e","video":"7572095605771654694.mp4"}
+{"uid":"16219386481705423109","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":"16791657421001168227.mp4"}
+{"uid":"1522274492254046167","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15172252764975838363.mp4"}
+{"uid":"1890360628912552802","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder 7- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder 6- drop the blue pen in a pen holder 7- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e","video":"2976251722497789659.mp4"}
+{"uid":"10183908967507245797","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":"13293347183334307000.mp4"}
+{"uid":"17016578178841442972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoons in left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11400911107801326248.mp4"}
+{"uid":"8398732227617142772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5585080746992196698.mp4"}
+{"uid":"6571467191575962567","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16439803004306897884.mp4"}
+{"uid":"17773103193861095557","text":"\u003ctask:success:discrete:False\u003e\nput orange pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in holder 2- drop the orange pen in a pen holder 3- drop the blue pen in a pen holder 4- drop the orange pen in a pen holder 5- drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8389880643552320621.mp4"}
+{"uid":"331518649206535108","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":"14866467353412772512.mp4"}
+{"uid":"3572359129568711266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8405835577774857403.mp4"}
+{"uid":"16858565014513455315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass upright on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8761849592794406284.mp4"}
+{"uid":"15274222238774529582","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":"14364949127770821968.mp4"}
+{"uid":"7898051707995635157","text":"\u003ctask:success:discrete:True\u003e\nPut the orange pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e","video":"17092658671712106655.mp4"}
+{"uid":"9706951122699240624","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":"1842382341859370985.mp4"}
+{"uid":"18242576727005685885","text":"\u003ctask:success:discrete:True\u003e\nput orange pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in holder\n\u003c/PRED\u003e","video":"2673640797074764241.mp4"}
+{"uid":"5958331843731143202","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the blue pen in a pen holder 4- drop the blue pen in a pen holder 5- done\n\u003c/PRED\u003e","video":"14507150494574635556.mp4"}
+{"uid":"15656295193458929412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"12303746425806430681.mp4"}
+{"uid":"3047467494992939226","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11409093014336794227.mp4"}
+{"uid":"784833316024789491","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3974693981082511168.mp4"}
+{"uid":"286561350073451657","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16655684125741400169.mp4"}
+{"uid":"18427627144173563288","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e","video":"15929027235941245233.mp4"}
+{"uid":"3689102167490862249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace nut 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":"11378478141123929892.mp4"}
+{"uid":"2529578421551813914","text":"\u003ctask:success:discrete:False\u003e\nPut the orange 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 orange pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the holder 2- drop the blue pen in a pen holder 3- drop the blue pen in a pen holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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":"16285592755461925925.mp4"}
+{"uid":"2281209405583842391","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue pen in a pen holder 2- drop the blue pen in a pen holder 3- done\n\u003c/PRED\u003e","video":"8368324700851334329.mp4"}
+{"uid":"18327900604915890020","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the holder 2- drop the blue pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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 orange pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the holder\n\u003c/PRED\u003e","video":"6487068427482282802.mp4"}
+{"uid":"10645457704195837399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12497466536369970774.mp4"}
+{"uid":"7449319770996072276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13044558168118856118.mp4"}
+{"uid":"128854402886690716","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- drop the orange pen in a pen holder 3- drop the blue pen in a pen holder 4- drop the blue pen in a pen holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"16115770330466378838.mp4"}
+{"uid":"240214304316830157","text":"\u003ctask:success:discrete:True\u003e\ndrop the blue pen in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue pen in a pen holder\n\u003c/PRED\u003e","video":"13978207360017753370.mp4"}
+{"uid":"11988335397842610839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from 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":"3478344241324975691.mp4"}
+{"uid":"9707816521518655637","text":"\u003ctask:success:discrete:False\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder 3- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- drop the orange pen in a pen holder 3- drop the blue pen in a pen holder 4- drop the blue pen in a pen holder 5- done\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 holder\n\u003c/PRED\u003e","video":"6718560146797923082.mp4"}
+{"uid":"5498061528049480675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place them into the caddy. last 20 steps: 1- drop the blue pen in a pen holder 2- drop the orange pen in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange pen in a pen holder 2- drop the blue pen in a pen holder 3- drop the orange pen in a pen holder 4- drop the blue pen in a pen holder 5- drop the blue pen in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange pen in a pen holder\n\u003c/PRED\u003e","video":"4681121058199286540.mp4"}
+{"uid":"13351476670643038141","text":"\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes on the table 2- put banana on the table 3- put fruit on the table 4- put fruit 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 grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"8068558456757735341.mp4"}
+{"uid":"9471741259175206849","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes on the table 2- put orange on the table 3- put orange on the table 4- put apple on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e","video":"17853010987971063311.mp4"}
+{"uid":"4522723987952521763","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table 12- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit on the table 2- put fruit on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table 12- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e","video":"7267622433104326498.mp4"}
+{"uid":"3805220914581628874","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":"4612212885783179540.mp4"}
+{"uid":"4910279831780665050","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":"5478493081978190983.mp4"}
+{"uid":"17672594753615329000","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"6401727970854136111.mp4"}
+{"uid":"2110698748682065463","text":"\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"687442862103105178.mp4"}
+{"uid":"4444411051893138510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the organizer a side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"690586848524579365.mp4"}
+{"uid":"2090695144948415165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2512917067929227144.mp4"}
+{"uid":"17150468967324907210","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange from the white bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange from the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange from the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Pick up the orange from the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange from the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: Pick up the orange from the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange from the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15618767435667661304.mp4"}
+{"uid":"18323611152167015284","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the cup 2- place the spoon on the tissue 3- place the orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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 packet into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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 packet into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the packet into the cup\n\u003c/PRED\u003e","video":"4643690932742716873.mp4"}
+{"uid":"14295521600403573930","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon on the tissue paper 2- place the orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4714441687421483567.mp4"}
+{"uid":"12708270555544835325","text":"\u003ctask:success:discrete:True\u003e\nput the packet 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 packet into the cup\n\u003c/PRED\u003e","video":"153352407072129957.mp4"}
+{"uid":"13630636854307195295","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange 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:planning:freeform\u003e\ncurrent goal is: please put the fruit into 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: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put orange on the table 3- put grapes on the table 4- put banana on the table 5- put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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: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":"12925990308092689520.mp4"}
+{"uid":"2873913946307380832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16542936714165010830.mp4"}
+{"uid":"15713562552885848404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nut 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":"2538845217600387348.mp4"}
+{"uid":"12822937339307256715","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":"2456477051487307435.mp4"}
+{"uid":"3848059965017585463","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on the tissue 2- place the orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e","video":"2968028048778799041.mp4"}
+{"uid":"2634793631079166919","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue 4- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue 4- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5486497441042717838.mp4"}
+{"uid":"1472690885591039218","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":"12319881322651606013.mp4"}
+{"uid":"3361998459276279336","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into 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: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put orange on the table 3- put apple on the table 4- put grapes on the table 5- put grapes 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":"11733147611705778731.mp4"}
+{"uid":"10172667969708251013","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put orange on the table 3- put apple on the table 4- put orange on the table 5- put grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"10650987041529685568.mp4"}
+{"uid":"15356146800696685918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue chocolate ball 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":"8792972562742707106.mp4"}
+{"uid":"5865230266625828374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pista in coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5840940078126195283.mp4"}
+{"uid":"14876901046732762514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput animal toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7924195065081159244.mp4"}
+{"uid":"7567910306355225122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the indoor plant downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2031724644856122206.mp4"}
+{"uid":"16258661388987940289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12507430490908158675.mp4"}
+{"uid":"9539642972447844185","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 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: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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- place the spoon on the tissue 3- place the orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e","video":"10785888980061034856.mp4"}
+{"uid":"17267096481779970419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the middle drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15766523829383541684.mp4"}
+{"uid":"2688780557163012203","text":"\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","video":"12547671304448310670.mp4"}
+{"uid":"8847342244800556873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush 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":"18434766533735297760.mp4"}
+{"uid":"4813998925193346652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13890179523260502961.mp4"}
+{"uid":"12116568467825844311","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put apple on the table 3- put grapes on the table 4- put grapes on the table 5- put orange on the table\n\u003c/PRED\u003e","video":"7333703611338697666.mp4"}
+{"uid":"15201575863989876531","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put grapes on the table 3- put grapes on the table 4- put orange on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"16145667174399070242.mp4"}
+{"uid":"12246432829496617412","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":"7785145826476379665.mp4"}
+{"uid":"17943721993410632789","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put fruit on the table 3- put fruit on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"6260914451514355784.mp4"}
+{"uid":"15888238934526585063","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- place the orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12858821058687800774.mp4"}
+{"uid":"8082014481571172594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet 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":"3325104557171333701.mp4"}
+{"uid":"4154621138878916175","text":"\u003ctask:success:discrete:False\u003e\nput the spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: put the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon on the tissue paper 2- place the orange on the table 3- done\n\u003c/PRED\u003e","video":"18001961499955194780.mp4"}
+{"uid":"5660092471225699630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"13710541120545240778.mp4"}
+{"uid":"15238547785645743871","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":"18393132454797566.mp4"}
+{"uid":"1611732888594417337","text":"\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"2452039084385829418.mp4"}
+{"uid":"12529317053136402005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the right door forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12207210761245510114.mp4"}
+{"uid":"13243200274262986566","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":"17766628016004464635.mp4"}
+{"uid":"1464646149784331566","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":"8950934086697439301.mp4"}
+{"uid":"10232803674101333374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"230882253438031339.mp4"}
+{"uid":"17483542361019812255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic glass 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":"12747207033670781846.mp4"}
+{"uid":"3611761653004825606","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon on the tissue\n\u003c/PRED\u003e","video":"17974658026666247855.mp4"}
+{"uid":"1155171186929761631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper cup 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":"13313503623604117355.mp4"}
+{"uid":"8524627987198971841","text":"\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put grapes on the table 3- put banana on the table 4- put fruit on the table 5- put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1717164786715793808.mp4"}
+{"uid":"2239729690200837058","text":"\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange 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 orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e","video":"16224914765683218283.mp4"}
+{"uid":"563703192532188325","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the paper bowl 2- place the tissue on the table 3- place the spoon on the tissue 4- place the orange on the table 5- done\n\u003c/PRED\u003e","video":"10183528859480254044.mp4"}
+{"uid":"1098009583452308107","text":"\u003ctask:success:discrete:False\u003e\nput fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table 12- put banana on the table 13- put fruit on the table Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table 12- put banana on the table 13- put fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put fruit on the table 2- done\n\u003c/PRED\u003e","video":"13512666338622011232.mp4"}
+{"uid":"9245565255473721749","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put apple on the table 3- put orange on the table 4- put grapes on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6708804494629098034.mp4"}
+{"uid":"7375656845430521695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table 12- put banana on the table 13- put fruit on the table 14- put fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table 6- put grapes on the table 7- put orange on the table 8- put orange on the table 9- put apple on the table 10- put orange on the table 11- put grapes on the table 12- put banana on the table 13- put fruit on the table 14- put fruit on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11378483871466716666.mp4"}
+{"uid":"4750688601401386657","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet into the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the packet into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue 4- place the orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the paper cup\n\u003c/PRED\u003e","video":"12540858934516903012.mp4"}
+{"uid":"6403001511648703037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red 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":"2863025956597488810.mp4"}
+{"uid":"371585899043513122","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":"3512068718231348395.mp4"}
+{"uid":"17465374188174440571","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tissue paper from the tissue paper box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue paper from the tissue paper box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue paper from the tissue paper box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper from the tissue paper box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper from the tissue paper box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tissue paper from the tissue paper 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 some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper from the tissue paper box 2- place the spoon on the tissue 3- place the orange on the table 4- done\n\u003c/PRED\u003e","video":"13367412091363847668.mp4"}
+{"uid":"12324376092656285366","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue paper on the table 2- place the spoon on the tissue 3- place the orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper 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 paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e","video":"7198443909969462713.mp4"}
+{"uid":"17857387415364551346","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the spoon from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the spoon from the holder 2- place the orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the spoon 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the spoon from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Pick up the spoon from the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the spoon from the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the spoon from the holder\n\u003c/PRED\u003e","video":"5554079977824072319.mp4"}
+{"uid":"13145576624479265839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16860281933363147712.mp4"}
+{"uid":"7875996327087525101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue 4- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue 4- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"2424440227698246814.mp4"}
+{"uid":"17370616930763242215","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the ball in the hole Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7564603450904048383.mp4"}
+{"uid":"15578167205139588902","text":"\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"7427327635892142661.mp4"}
+{"uid":"8502786214373385009","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":"1392443753383642472.mp4"}
+{"uid":"13373424388894107707","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put fruits on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruits on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruits on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruits on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put fruits on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruits on the table\n\u003c/PRED\u003e","video":"4308782938473251703.mp4"}
+{"uid":"12334289623253830692","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the 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: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: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- drop the packet into the paper cup 2- place the tissue on the table 3- place the spoon on the tissue Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"2750804222230151476.mp4"}
+{"uid":"1063202665153962583","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- put fruits on the table 2- put apple on the table 3- put orange on the table 4- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes on the table 2- put grapes on the table 3- put orange on the table 4- put orange on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e","video":"8171726858824235833.mp4"}
+{"uid":"14004241942843389934","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"14437256489963434903.mp4"}
+{"uid":"14618862168711050410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red snack packet in the right of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6225230264435413046.mp4"}