diff --git "a/json/train/data-00029-of-00160.json" "b/json/train/data-00029-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00029-of-00160.json"
@@ -0,0 +1,264 @@
+{"uid":"18163301875668273583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3260486398884587832.mp4"}
+{"uid":"3579701984387988550","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput  packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put  packets on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the nacho packet on the table 5- Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put  packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put  packets on the table\n\u003c/PRED\u003e","video":"2740323286639265950.mp4"}
+{"uid":"13116945046920889422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15369665056343444934.mp4"}
+{"uid":"9665893407954461941","text":"\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"17368095860527174595.mp4"}
+{"uid":"4064411476169461444","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Place the nacho packet on the table 3- Place the nacho packet on the table 4- Put the nacho packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"1463998190467390252.mp4"}
+{"uid":"7185573910459994556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5541544354864110895.mp4"}
+{"uid":"524340840457633474","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table 6- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table 6- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1115930946800631202.mp4"}
+{"uid":"10680100102338595747","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table 6- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table 6- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18026172539546088090.mp4"}
+{"uid":"3906347195454268290","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"4674111855853149609.mp4"}
+{"uid":"1471150677135142053","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Place the popcorn packet on the table 3- Place the nacho packet on the table 4- Place the nacho packet on the table 5- Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"6472021262002390424.mp4"}
+{"uid":"4275018750708152817","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the nacho packet on the table 3- Place the nacho packet on the table 4- Put the nacho packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"2763187343830625081.mp4"}
+{"uid":"4278810456695913353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the brown paper cup towards the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6955933825059683830.mp4"}
+{"uid":"4338410724581843140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the tape holder cutter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15644312629321072252.mp4"}
+{"uid":"6918720037549220529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14893904402693900396.mp4"}
+{"uid":"9352562914856714396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the pink plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"557419760695182389.mp4"}
+{"uid":"2222650419357821666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17262438734852442537.mp4"}
+{"uid":"2188478258728619410","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"423525175968060261.mp4"}
+{"uid":"17044182201937106538","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14543327861824178368.mp4"}
+{"uid":"181051495956303080","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5012730530993085166.mp4"}
+{"uid":"7328704899054894020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"638003818458284705.mp4"}
+{"uid":"6373744436970780243","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packets on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the nacho packet on the table 5- Place the nacho packet on the table\n\u003c/PRED\u003e","video":"12590083545266915396.mp4"}
+{"uid":"2146524044475277240","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- Place the nacho packet on the table 3- Put the nacho packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"16952197547313313594.mp4"}
+{"uid":"5590060886888093751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17984606452911611045.mp4"}
+{"uid":"651589541138162797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoon in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13636459778010346195.mp4"}
+{"uid":"17363845057505441771","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":"8614591460731201188.mp4"}
+{"uid":"514945228928125880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10730688808965153583.mp4"}
+{"uid":"8049801519946825976","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14235797145666488916.mp4"}
+{"uid":"981215215879555831","text":"\u003ctask:success:discrete:False\u003e\nPut the 2 packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 2 packets on the table 2- Place the popcorn packet on the table 3- Place the popcorn packet on the table 4- Place the nacho packet on the table 5- Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the 2 packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 2 packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 2 packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 2 packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the 2 packets on the table\n\u003c/PRED\u003e","video":"17055048973419134512.mp4"}
+{"uid":"261651830697785146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10726009237738060917.mp4"}
+{"uid":"636243647495058867","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"12431403383129871156.mp4"}
+{"uid":"15279090743496546188","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray 8- drop black bag in the tray 9- drop black bag in the tray 10- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray 8- drop black bag in the tray 9- drop black bag in the tray 10- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3539165150772937069.mp4"}
+{"uid":"17167193129159185099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the middle shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8848359861946733158.mp4"}
+{"uid":"13073822191147313493","text":"\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"16722026040488884011.mp4"}
+{"uid":"12123346271208976999","text":"\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"15929546351596728044.mp4"}
+{"uid":"17788221156920549411","text":"\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"11812952838370167388.mp4"}
+{"uid":"16508286774645429795","text":"\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"16418362223630187278.mp4"}
+{"uid":"1643752831130412756","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5793301398654977804.mp4"}
+{"uid":"4135086946554906335","text":"\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"4319519195630585981.mp4"}
+{"uid":"4438242035433286448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"6383046924063473234.mp4"}
+{"uid":"3029335171561376966","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet on the table 2- Place the popcorn packet on the table 3- Place the nacho packet on the table 4- Place the nacho packet on the table 5- Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet on the table\n\u003c/PRED\u003e","video":"7513463773662372983.mp4"}
+{"uid":"9929582987447758598","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"693988130393730476.mp4"}
+{"uid":"12287897225164717466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9048159309052888624.mp4"}
+{"uid":"667106846882086533","text":"\u003ctask:success:discrete:False\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"7294688840840698054.mp4"}
+{"uid":"15506544894938029505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the middle drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16575895189636805399.mp4"}
+{"uid":"7829745768146046251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10176149027658795338.mp4"}
+{"uid":"16135282607342275222","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"5072247277454087360.mp4"}
+{"uid":"7696779205872982985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chips bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12175699759388437062.mp4"}
+{"uid":"17956192150541020359","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray 8- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray 8- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"7777202379748886121.mp4"}
+{"uid":"1233457040804844855","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Place the nacho packet on the table 3- Put the nacho packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"5422142717513573485.mp4"}
+{"uid":"8112300753181837166","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- Put the nacho packet on the table 3- done\n\u003c/PRED\u003e","video":"15628305297704035156.mp4"}
+{"uid":"4287293208378717361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1873837919651020328.mp4"}
+{"uid":"18249992447170809107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14687040384474532635.mp4"}
+{"uid":"5689127997066495707","text":"\u003ctask:success:discrete:True\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"6800862240522942411.mp4"}
+{"uid":"7762590101674697977","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"4056311177321321074.mp4"}
+{"uid":"11905866532979590547","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the popcorn packet on the table 3- Place the nacho packet on the table 4- Place the nacho packet on the table 5- Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"3742970301876613407.mp4"}
+{"uid":"4602682950278451000","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"13375759451281270672.mp4"}
+{"uid":"4934559621480852143","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the nacho packet on the table 3- Place the nacho packet on the table 4- Put the nacho packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"4228265914571646695.mp4"}
+{"uid":"1634929008664843911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray 8- drop black bag in the tray 9- drop black bag in the tray Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop black bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chips in the basket. last 20 steps: 1- drop black bag in the tray 2- drop black bag in the tray 3- drop black bag in the tray 4- drop black bag in the tray 5- drop black bag in the tray 6- drop black bag in the tray 7- drop black bag in the tray 8- drop black bag in the tray 9- drop black bag in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop black bag in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e","video":"7428413023343653918.mp4"}
+{"uid":"1355272224459559622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17972349520058599601.mp4"}
+{"uid":"11490774026257952191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the brown belt 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":"13396232377975110337.mp4"}
+{"uid":"18241653398044903642","text":"\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"13085504596697706695.mp4"}
+{"uid":"13608355115568316933","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- Put the nacho packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"4305200244220557715.mp4"}
+{"uid":"16590788570193150615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4685400220068780206.mp4"}
+{"uid":"6994830073996381063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2876866309416418752.mp4"}
+{"uid":"6527585182348560582","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop black bag in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop black bag in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"109503704605097117.mp4"}
+{"uid":"12487680415317208793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9690778729970330773.mp4"}
+{"uid":"562946447665603817","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2631790293341113559.mp4"}
+{"uid":"10801672028391941701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15463411837790279140.mp4"}
+{"uid":"13325095233493486944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown chip bag in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"456511292692895571.mp4"}
+{"uid":"10259545878502608877","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table 6- Place the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table 5- Place the nacho packet on the table 6- Place the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"4902160427282437559.mp4"}
+{"uid":"9936979397455021787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- put popcorn packet on the table 2- Place the packets on the table 3- Place the popcorn packet on the table 4- Place the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the nacho packet on the table 2- Place the nacho packet on the table 3- Put the nacho packet on the table 4- done\n\u003c/PRED\u003e","video":"11627935547951522179.mp4"}
+{"uid":"8621560061263845398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13870987513731185891.mp4"}
+{"uid":"8199933936292207715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the right side portion of napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1575304632341593537.mp4"}
+{"uid":"3330645316659338946","text":"\u003ctask:success:discrete:True\u003e\ndrop the marker into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e","video":"12193949119144690555.mp4"}
+{"uid":"13099149657962174290","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the scrub pad into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box Q: immediate next step? \u003cPRED\u003eA: drop the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the scrub pad into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scrub pad into the box 2- drop the regulator into the box 3- drop the marker into the box 4- drop the black object into the box 5- drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the scrub pad into the box\n\u003c/PRED\u003e","video":"2064033800308045627.mp4"}
+{"uid":"11506963252167362960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9120819658724576514.mp4"}
+{"uid":"15253464027219979607","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"215922969828953993.mp4"}
+{"uid":"8025275336581386027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8069946632945806078.mp4"}
+{"uid":"18383137394684538127","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box Q: immediate next step? \u003cPRED\u003eA: put the stamp in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stamp in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the stamp in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the stamp in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the stamp in the box 2- drop the black wire into the box 3- drop the orange wire into the box 4- drop the bowl into the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the stamp in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stamp in the box\n\u003c/PRED\u003e","video":"14305122199138434339.mp4"}
+{"uid":"3040229773850832588","text":"\u003ctask:success:discrete:True\u003e\nput the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e","video":"9243941628874541692.mp4"}
+{"uid":"12642915391620531811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the book to the corner of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"702865860736751884.mp4"}
+{"uid":"14628724072878199437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp 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":"9837545142661268936.mp4"}
+{"uid":"7379163035563250756","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: put the black packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black packet in the box 2- put the sponge in the box 3- drop the regulator into the box 4- drop the marker into the box 5- drop the black object into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black packet in the box\n\u003c/PRED\u003e","video":"13505138665653145757.mp4"}
+{"uid":"4555272689576991644","text":"\u003ctask:success:discrete:False\u003e\nclean the robot Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair. last 20 steps: 1- take out a wipe from the packet Q: next 5 steps? \u003cPRED\u003eA: 1- clean the robot 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair Q: immediate next step? \u003cPRED\u003eA: clean the robot\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the robot\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair. last 20 steps: 1- take out a wipe from the packet Q: immediate next step? \u003cPRED\u003eA: clean the robot\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the robot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the robot\n\u003c/PRED\u003e","video":"3739805417711395629.mp4"}
+{"uid":"12659032553996806724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3590263755470897701.mp4"}
+{"uid":"10592870768460050831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap 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":"4011585079665970537.mp4"}
+{"uid":"13119505615900496928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17745473231861265062.mp4"}
+{"uid":"10308785548010017158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"14833274897503214490.mp4"}
+{"uid":"1085212239829603682","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box Q: immediate next step? \u003cPRED\u003eA: put the black nobe in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black nobe in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black nobe in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black nobe in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black nobe in the box 2- drop the black wire into the box 3- drop the orange wire into the box 4- drop the bowl into the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black nobe in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black nobe in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15534714604495905843.mp4"}
+{"uid":"16476865742755022552","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11698899225373866945.mp4"}
+{"uid":"11314648996407277891","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14522060229011103516.mp4"}
+{"uid":"11037881730954807388","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5379280497913772921.mp4"}
+{"uid":"15071031240364930151","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the large black object into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: drop the large black object into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the large black object into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the large black object into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the large black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the large black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the large black object into the box 2- put the sponge in the box 3- drop the regulator into the box 4- drop the marker into the box 5- drop the black object into the box\n\u003c/PRED\u003e","video":"13846571332904458188.mp4"}
+{"uid":"2128623127896390123","text":"\u003ctask:success:discrete:True\u003e\nput the regulator in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e","video":"3710048707280897916.mp4"}
+{"uid":"2763652743956679491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1387605787298617717.mp4"}
+{"uid":"3065366915119791943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a tape in cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15019372114801308608.mp4"}
+{"uid":"5921590196388566969","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":"2877891590172353582.mp4"}
+{"uid":"8770610324011285929","text":"\u003ctask:success:discrete:True\u003e\nput the stamp in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the stamp in the box\n\u003c/PRED\u003e","video":"8863214195409446977.mp4"}
+{"uid":"7480035776225723598","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":"13789808280934795529.mp4"}
+{"uid":"9388047313092221130","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box Q: immediate next step? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge in the box 2- drop the regulator into the box 3- drop the marker into the box 4- drop the black object into the box 5- drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13653048586969369765.mp4"}
+{"uid":"11927603374845403652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16630935446030640282.mp4"}
+{"uid":"8153473969297841229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the 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":"11305262424074733790.mp4"}
+{"uid":"9093826016183622827","text":"\u003ctask:success:discrete:True\u003e\nput the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e","video":"15152422537160924333.mp4"}
+{"uid":"6996115631189818670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet into the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5962421928224313085.mp4"}
+{"uid":"15116711929993676062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the large black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the large black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"175038151423447646.mp4"}
+{"uid":"11623488527027055998","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the rubber holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the rubber holder in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the rubber holder in the box 2- put the sponge in the box 3- drop the regulator into the box 4- drop the marker into the box 5- drop the black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the rubber holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the rubber holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the rubber holder in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: Put the rubber holder in the box\n\u003c/PRED\u003e","video":"10635965910888873407.mp4"}
+{"uid":"4573637028238682485","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the regulator into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: drop the regulator into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the regulator into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the regulator into the box 2- drop the marker into the box 3- drop the black object into the box 4- drop the black wire into the box 5- drop the orange wire into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the regulator into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the regulator into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the regulator into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12517574041559735209.mp4"}
+{"uid":"4120157203226262292","text":"\u003ctask:success:discrete:True\u003e\nput the black nobe in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black nobe in the box\n\u003c/PRED\u003e","video":"5934256030930362999.mp4"}
+{"uid":"17288532633824693368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14949546150433323612.mp4"}
+{"uid":"11935697331117354392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the box 2- drop the black object into the box 3- drop the black wire into the box 4- drop the orange wire into the box 5- drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box Q: immediate next step? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e","video":"15059373395278265186.mp4"}
+{"uid":"15991506395879365434","text":"\u003ctask:success:discrete:True\u003e\nplace the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker in the box\n\u003c/PRED\u003e","video":"10650345172242526555.mp4"}
+{"uid":"9970693041292024178","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair. last 20 steps: 1- take out a wipe from the packet 2- clean the robot Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the robot Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair. last 20 steps: 1- take out a wipe from the packet 2- clean the robot Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the robot\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3699679313494321136.mp4"}
+{"uid":"16821081904912791917","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the rubber holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the rubber holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16904780408720708841.mp4"}
+{"uid":"16875513801234226511","text":"\u003ctask:success:discrete:False\u003e\ndrop the black wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box Q: immediate next step? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black wire into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black wire into the box 2- drop the orange wire into the box 3- drop the bowl into the box 4- done\n\u003c/PRED\u003e","video":"7982891346156021446.mp4"}
+{"uid":"8682574810078769171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput coffee cup lids in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15243161306684481548.mp4"}
+{"uid":"11569873481749823113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9271781789724061012.mp4"}
+{"uid":"10943039446056260381","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker into the box 2- drop the black object into the box 3- drop the black wire into the box 4- drop the orange wire into the box 5- drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box Q: immediate next step? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11325374574887976413.mp4"}
+{"uid":"7520380238914025757","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object into the box 2- drop the black wire into the box 3- drop the orange wire into the box 4- drop the bowl into the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black object into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box Q: immediate next step? \u003cPRED\u003eA: drop the black object into the box\n\u003c/PRED\u003e","video":"9587990390780447484.mp4"}
+{"uid":"2657426149689157856","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box 9- drop the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bowl into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box 9- drop the bowl into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e","video":"15534546683399040896.mp4"}
+{"uid":"9505321297621978803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12705994328036103340.mp4"}
+{"uid":"6992091442325988265","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e","video":"17159821765235854075.mp4"}
+{"uid":"17956068202689703252","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black cable in the box 2- drop the orange wire into the box 3- drop the bowl into the box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box Q: immediate next step? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black cable in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e","video":"8676542069859337924.mp4"}
+{"uid":"9431410770200414052","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the regulator in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the regulator in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the regulator in the box 2- drop the marker into the box 3- drop the black object into the box 4- drop the black wire into the box 5- drop the orange wire into the box\n\u003c/PRED\u003e","video":"12104063728629641888.mp4"}
+{"uid":"13706895381761972148","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box Q: immediate next step? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bowl into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl into the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bowl into the box\n\u003c/PRED\u003e","video":"3802513017311223848.mp4"}
+{"uid":"15489982425260896660","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16243186962421030775.mp4"}
+{"uid":"17718858242966194419","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the regulator into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the regulator into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5042718343410498986.mp4"}
+{"uid":"18103095507479416807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16288783896211690464.mp4"}
+{"uid":"11187434694518144144","text":"\u003ctask:success:discrete:False\u003e\nput the red nobe in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the red nobe in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red nobe in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red nobe in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the red nobe in the box 2- drop the marker into the box 3- drop the black object into the box 4- drop the black wire into the box 5- drop the orange wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red nobe in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: put the red nobe in the box\n\u003c/PRED\u003e","video":"3645513659771946410.mp4"}
+{"uid":"10459783318509516765","text":"\u003ctask:success:discrete:True\u003e\ndrop the scrub pad into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the scrub pad into the box\n\u003c/PRED\u003e","video":"10391893581436040376.mp4"}
+{"uid":"14172060572970817073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knives 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":"8741347075276298944.mp4"}
+{"uid":"3230777615470898789","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the red wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the red wire in the box 2- drop the bowl into the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box Q: immediate next step? \u003cPRED\u003eA: place the red wire in the box\n\u003c/PRED\u003e","video":"14768202736988729351.mp4"}
+{"uid":"4279128225999358860","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3031374170840129603.mp4"}
+{"uid":"2463922999371779676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4005809215521479438.mp4"}
+{"uid":"6661536861874871046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3093548889078262530.mp4"}
+{"uid":"9805834843787148784","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box 9- put the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box 8- drop the orange wire into the box 9- put the bowl in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12318918191355501248.mp4"}
+{"uid":"3957781234373251406","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange wire into the box\n\u003c/PRED\u003e","video":"12483388658917014743.mp4"}
+{"uid":"14205825952511477305","text":"\u003ctask:success:discrete:True\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"16328893994864269767.mp4"}
+{"uid":"11466316100195017004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7814777947693135076.mp4"}
+{"uid":"4054305626901112270","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"8584995370796410178.mp4"}
+{"uid":"11859869264333550516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11819135256800466652.mp4"}
+{"uid":"2183410304456103104","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box\n\u003c/PRED\u003e","video":"8624195158525022578.mp4"}
+{"uid":"15867975117864087609","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":"9073121197050228462.mp4"}
+{"uid":"1787914960505484251","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange wire into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange wire into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange wire into the box 2- drop the bowl into the box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box Q: immediate next step? \u003cPRED\u003eA: drop the orange wire into the box\n\u003c/PRED\u003e","video":"15363718310961029919.mp4"}
+{"uid":"4036409037568162413","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black cable in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7757621060189947088.mp4"}
+{"uid":"10845353079381671703","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- drop the black object into the box 3- drop the black wire into the box 4- drop the orange wire into the box 5- drop the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e","video":"16635792701885215465.mp4"}
+{"uid":"8530791188365764362","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange cable in the box 2- drop the bowl into the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the orange cable in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange cable in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box 7- drop the black wire into the box Q: immediate next step? \u003cPRED\u003eA: put the orange cable in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange cable in the box\n\u003c/PRED\u003e","video":"16458261909090522783.mp4"}
+{"uid":"6397920815667355687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4967969167415575.mp4"}
+{"uid":"11726144512296915744","text":"\u003ctask:success:discrete:False\u003e\ntake out a wipe from the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a wipe from the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: take out a wipe from the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a wipe from the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a wipe from the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- take out a wipe from the packet 2- clean the robot 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a lysol and wipe down the dust on the big Robot by the blue armchair Q: immediate next step? \u003cPRED\u003eA: take out a wipe from the packet\n\u003c/PRED\u003e","video":"10752871315176888522.mp4"}
+{"uid":"2870498483292236495","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- drop the regulator into the box 3- drop the marker into the box 4- drop the black object into the box 5- drop the black wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e","video":"16939321235594370280.mp4"}
+{"uid":"8712405377428381758","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the large black object into the box 3- put the sponge in the box 4- drop the regulator into the box 5- drop the marker into the box 6- drop the black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the box 2- drop the orange wire into the box 3- drop the bowl into the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"246323376018451836.mp4"}
+{"uid":"3888710925981946038","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17543568165079662744.mp4"}
+{"uid":"15249917441592076001","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup 7- put the pistachios  in the cup 8- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup 7- put the pistachios  in the cup 8- close the lid Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"13079408283848693210.mp4"}
+{"uid":"11840197183274848236","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the alphabetic tile in row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back Q: next 5 steps? \u003cPRED\u003eA: 1- place the alphabetic tile in row 2- place the alphabetic tile in row 3- place the alphabetic tile in row 4- move the alphabetic tile back 5- place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the alphabetic tile in row Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e","video":"9916995650002046496.mp4"}
+{"uid":"6794632359138038718","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the jar 2- grab the pistachios 3- put the pistachios  in the cup 4- put the pistachios  in the cup 5- put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid Q: immediate next step? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the scoop in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scoop in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the jar\n\u003c/PRED\u003e","video":"11198235288398908045.mp4"}
+{"uid":"10793751428584452036","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- push the tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16718384727334636871.mp4"}
+{"uid":"2170452244026938258","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Arrange the packet 3- Arrange the packet 4- push the tray inside 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8226627752565804474.mp4"}
+{"uid":"18094953729825993292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18186378260011341358.mp4"}
+{"uid":"3259975392418404917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on 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":"10299188899512409406.mp4"}
+{"uid":"9884855454981378156","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup 7- put the pistachios  in the cup 8- close the lid 9- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup 7- put the pistachios  in the cup 8- close the lid 9- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10847423049818598119.mp4"}
+{"uid":"16690569792033608113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row Q: next 5 steps? \u003cPRED\u003eA: 1- place the alphabetic tile in row 2- place the alphabetic tile in row 3- move the alphabetic tile back 4- place the alphabetic tile in row 5- arrange the alphabetic tiles\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the alphabetic tile in row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e","video":"3449116368437529227.mp4"}
+{"uid":"17710680927488080231","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5415601938168160038.mp4"}
+{"uid":"11370630331727225450","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios  in the cup 2- close the lid 3- place the cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios  in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7084933552541543300.mp4"}
+{"uid":"12695194338867681973","text":"\u003ctask:success:discrete:True\u003e\nArrange the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e","video":"13706382891095577390.mp4"}
+{"uid":"15484419929263141697","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios  in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios Q: immediate next step? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios  in the cup 2- put the pistachios  in the cup 3- put the pistachios  in the cup 4- close the lid 5- place the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachios  in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1634956390003625900.mp4"}
+{"uid":"9029189024355990453","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the alphabetic tile back 2- place the alphabetic tile in row 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table Q: immediate next step? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the alphabetic tile back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the alphabetic tile back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16639517449204425816.mp4"}
+{"uid":"14565703861695460665","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pistachios  in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11092548012909762342.mp4"}
+{"uid":"372290371092571175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11693835604553927319.mp4"}
+{"uid":"3967528635037900478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper cup on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17521492407203616154.mp4"}
+{"uid":"7639419799438990237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2567140712398866179.mp4"}
+{"uid":"16056880730812031955","text":"\u003ctask:success:discrete:False\u003e\nmove the alphabetic tile back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the alphabetic tile back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row Q: next 5 steps? \u003cPRED\u003eA: 1- move the alphabetic tile back 2- place the alphabetic tile in row 3- arrange the alphabetic tiles 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row Q: immediate next step? \u003cPRED\u003eA: move the alphabetic tile back\n\u003c/PRED\u003e","video":"6055316515081254848.mp4"}
+{"uid":"15722256876862341979","text":"\u003ctask:success:discrete:True\u003e\nplace the alphabetic tile in row Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 alphabetic tile in row\n\u003c/PRED\u003e","video":"8605344350475280704.mp4"}
+{"uid":"14152100078002267274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13772687558629310825.mp4"}
+{"uid":"2751591610387443026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the mark into rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4065832216139166819.mp4"}
+{"uid":"18358866759299658049","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row Q: next 5 steps? \u003cPRED\u003eA: 1- place the alphabetic tile in row 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- arrange the alphabetic tiles 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the alphabetic tile in row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 alphabetic tile in row\n\u003c/PRED\u003e","video":"9665912960388855429.mp4"}
+{"uid":"11529040944793735337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"6073125835232018676.mp4"}
+{"uid":"7647921754135254677","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":"2490388902635263216.mp4"}
+{"uid":"11896862685676655475","text":"\u003ctask:success:discrete:True\u003e\nput the pistachios  in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e","video":"15338354127174036688.mp4"}
+{"uid":"1872485509298066325","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- place the scoop in the jar 3- grab the pistachios 4- put the pistachios  in the cup 5- put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e","video":"11966665484492356288.mp4"}
+{"uid":"9686670521060661733","text":"\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup 7- put the pistachios  in the cup Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup 6- put the pistachios  in the cup 7- put the pistachios  in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- place the cup on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e","video":"8817497725038652560.mp4"}
+{"uid":"12177387171995463766","text":"\u003ctask:success:discrete:True\u003e\nplace the alphabetic tile in row Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 alphabetic tile in row\n\u003c/PRED\u003e","video":"5909359736350107358.mp4"}
+{"uid":"5084570008550704740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"611362105784450627.mp4"}
+{"uid":"3037448037839001687","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: arrange the alphabetic tiles\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row 6- move the alphabetic tile back 7- place the alphabetic tile in row Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the alphabetic tiles 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the alphabetic tiles Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the alphabetic tiles\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the alphabetic tiles Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the alphabetic tiles\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row 6- move the alphabetic tile back 7- place the alphabetic tile in row Q: immediate next step? \u003cPRED\u003eA: arrange the alphabetic tiles\n\u003c/PRED\u003e","video":"13779866861178929672.mp4"}
+{"uid":"12649886702116958042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12456695489730763592.mp4"}
+{"uid":"5305889343835462141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink packet in the oraganiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3617241540097468248.mp4"}
+{"uid":"1358590967220234359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9353741768273393183.mp4"}
+{"uid":"279347665249028864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet 6- Arrange the packet 7- push the tray inside Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet 6- Arrange the packet 7- push the tray inside Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10695517570581923491.mp4"}
+{"uid":"74025814423729306","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet 6- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet 6- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray inside 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12124389639921953193.mp4"}
+{"uid":"7037798523523217494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUpright the bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14349274494469088438.mp4"}
+{"uid":"12713674084761639616","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"709736035661707252.mp4"}
+{"uid":"10412850126415775317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack red glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2114543727964541916.mp4"}
+{"uid":"17205253703637470633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6606756527018257620.mp4"}
+{"uid":"7605435478615389298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1124527265840861597.mp4"}
+{"uid":"7965943578762188759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a bean 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":"10211252730323472644.mp4"}
+{"uid":"8056026748112463814","text":"\u003ctask:success:discrete:False\u003e\nplace the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e","video":"9002167152845449258.mp4"}
+{"uid":"14601873961285268906","text":"\u003ctask:success:discrete:True\u003e\nplace the alphabetic tile in row Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 alphabetic tile in row\n\u003c/PRED\u003e","video":"5348724616193185888.mp4"}
+{"uid":"12961965675289590330","text":"\u003ctask:success:discrete:False\u003e\ngrab the pistachios Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the pistachios Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- grab the pistachios 2- put the pistachios  in the cup 3- put the pistachios  in the cup 4- put the pistachios  in the cup 5- close the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar Q: immediate next step? \u003cPRED\u003eA: grab the pistachios\n\u003c/PRED\u003e","video":"3937928097672062655.mp4"}
+{"uid":"13630872328431684436","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the alphabetic tile front side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the alphabetic tile front side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: move the alphabetic tile front side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the alphabetic tile front side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the alphabetic tile front side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the alphabetic tile front side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13124274732622901769.mp4"}
+{"uid":"15205627409633547321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6903816290674430881.mp4"}
+{"uid":"15900125838622087792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3104622878359491313.mp4"}
+{"uid":"15144845555801445305","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row 6- move the alphabetic tile back Q: next 5 steps? \u003cPRED\u003eA: 1- place the alphabetic tile in row 2- arrange the alphabetic tiles 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me?. last 20 steps: 1- move the alphabetic tile front side of the table 2- move the alphabetic tile back 3- place the alphabetic tile in row 4- place the alphabetic tile in row 5- place the alphabetic tile in row 6- move the alphabetic tile back Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Lets play a game, can you make a word out of these tiles for me? Q: immediate next step? \u003cPRED\u003eA: place the alphabetic tile in row\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the alphabetic tile in row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2497543243993730483.mp4"}
+{"uid":"5778391409137288085","text":"\u003ctask:success:discrete:True\u003e\npull the tray outside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e","video":"9705035394956423185.mp4"}
+{"uid":"18398040407104827174","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me? Q: immediate next step? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachios  in the cup 2- put the pistachios  in the cup 3- close the lid 4- place the cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachios  in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like a bowl of pistachios during my meeting. Would you please make me one and leave it in the conference room for me?. last 20 steps: 1- place the cup upright 2- open the lid 3- place the scoop in the jar 4- grab the pistachios 5- put the pistachios  in the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachios  in the cup\n\u003c/PRED\u003e","video":"2477397422375611065.mp4"}
+{"uid":"3631947673651363770","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- Arrange the packet 3- push the tray inside 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e","video":"11487857257345493817.mp4"}
+{"uid":"5612923420653766365","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tray outside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e","video":"10012513282642829287.mp4"}
+{"uid":"13640336046675136722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4588288427348814162.mp4"}
+{"uid":"11701303895760356603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the thin orange pen 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":"16072741519514457940.mp4"}
+{"uid":"14896195476446948625","text":"\u003ctask:success:discrete:True\u003e\nplace the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e","video":"9405941161817672523.mp4"}
+{"uid":"19298998169707","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":"7710863888561165565.mp4"}
+{"uid":"8720146327100371690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8374159811633973206.mp4"}
+{"uid":"8712730971595089988","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk. last 20 steps: 1- pull the tray outside 2- Arrange the packet 3- Arrange the packet 4- Arrange the packet 5- Arrange the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet 2- push the tray inside 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please reorganize the lesser evil popcorn snacks in the mk Q: immediate next step? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet\n\u003c/PRED\u003e","video":"1285977804516471535.mp4"}
+{"uid":"1401447305433002926","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place napkin on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace napkin on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8129945104278477316.mp4"}
+{"uid":"16071446489443532045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8775514850862877687.mp4"}
+{"uid":"7277725981073973941","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1139185247875852922.mp4"}
+{"uid":"6707635399155426519","text":"\u003ctask:success:discrete:True\u003e\nput spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e","video":"13562494700075018734.mp4"}
+{"uid":"9017731058365647967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen on the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1812357555976195125.mp4"}
+{"uid":"1331380152815690170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8930597165540001583.mp4"}
+{"uid":"7312391142149202134","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- place napkin on the counter 3- place spoon on the napkin 4- place numi packet on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"1347501981213098075.mp4"}
+{"uid":"2305816384378647097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7657819575133874437.mp4"}
+{"uid":"13566628285165680347","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"8113434203084776551.mp4"}
+{"uid":"14666361721557537906","text":"\u003ctask:success:discrete:True\u003e\nplace cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e","video":"14123907305855871956.mp4"}
+{"uid":"16099356004741890808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn 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":"3850799189217239696.mp4"}
+{"uid":"13965235841916217911","text":"\u003ctask:success:discrete:True\u003e\nopen top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e","video":"8771873575963902135.mp4"}
+{"uid":"11211626726144352407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chips into 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":"5991865889237942826.mp4"}
+{"uid":"2912077562302279518","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2882833424151931025.mp4"}
+{"uid":"3982236548422781165","text":"\u003ctask:success:discrete:False\u003e\nput spoon on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the tissue paper 2- place numi packet on the napkin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put 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 spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3937533498662746400.mp4"}
+{"uid":"405814052010745213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nut in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4301787194066664459.mp4"}
+{"uid":"16017163717315964155","text":"\u003ctask:success:discrete:False\u003e\nplace cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place cup on the table 2- close the top drawer 3- place numi packet on the table 4- place napkin on the counter 5- place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15129754066136123652.mp4"}
+{"uid":"17673592553963395459","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put spoon on tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on tissue 2- place numi packet on the napkin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter Q: immediate next step? \u003cPRED\u003eA: put spoon on tissue\n\u003c/PRED\u003e","video":"15454482148175513906.mp4"}
+{"uid":"21004670798381828","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open top drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter\n\u003c/PRED\u003e","video":"2045312067601705722.mp4"}
+{"uid":"15368355049548396235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"5550861700835470408.mp4"}
+{"uid":"1015015394595150144","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put tea bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer Q: immediate next step? \u003cPRED\u003eA: put tea bag on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tea bag on the table 2- place napkin on the counter 3- place spoon on the napkin 4- place numi packet on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea bag on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5557233045305736354.mp4"}
+{"uid":"8342063685123535083","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a 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\u003ctask:success:discrete:True\u003e\nput tissue on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10989361533854312308.mp4"}
+{"uid":"8928601355398582885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11665004356972307527.mp4"}
+{"uid":"2448786440763602856","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace numi packet on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin 7- place numi packet on the napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin 7- place numi packet on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7777199628440150472.mp4"}
+{"uid":"677506025221332877","text":"\u003ctask:success:discrete:True\u003e\nplace spoon on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon on the napkin\n\u003c/PRED\u003e","video":"12590198615106415814.mp4"}
+{"uid":"12507476481476548474","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tea bag 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tea bag 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- put tea bag on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e","video":"5949286145280968090.mp4"}
+{"uid":"5608987045725979698","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place numi packet on the table 3- place napkin on the counter 4- place spoon on the napkin 5- place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"6333106238969232996.mp4"}
+{"uid":"17679708732436005517","text":"\u003ctask:success:discrete:True\u003e\nplace numi packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place numi packet on the table\n\u003c/PRED\u003e","video":"319597356919763098.mp4"}
+{"uid":"18372132444578857543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- close the top drawer 3- place numi packet on the table 4- place napkin on the counter 5- place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5549049858350845748.mp4"}
+{"uid":"2870592180588268140","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place numi packet on the table 3- place napkin on the counter 4- place spoon on the napkin 5- place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7759645437298890874.mp4"}
+{"uid":"15038347112525460591","text":"\u003ctask:success:discrete:True\u003e\nput tea bag 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 tea bag on the table\n\u003c/PRED\u003e","video":"6903946011957841674.mp4"}
+{"uid":"15180415378054528167","text":"\u003ctask:success:discrete:False\u003e\nplace napkin on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace napkin on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table Q: immediate next step? \u003cPRED\u003eA: place napkin on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place napkin on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place napkin on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: place napkin on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place napkin on the counter 2- place spoon on the napkin 3- place numi packet on the napkin 4- done\n\u003c/PRED\u003e","video":"4315556082711195994.mp4"}
+{"uid":"12634195546280050084","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place numi packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace numi packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place numi packet on the table 2- place napkin on the counter 3- place spoon on the napkin 4- place numi packet on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer Q: immediate next step? \u003cPRED\u003eA: place numi packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: place numi packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace numi packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place numi packet on the table\n\u003c/PRED\u003e","video":"18353699948909902961.mp4"}
+{"uid":"7085101900290306067","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9170642973171628489.mp4"}
+{"uid":"3772932870075219311","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on table 2- close the top drawer 3- place numi packet on the table 4- place napkin on the counter 5- place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5257237503954196134.mp4"}
+{"uid":"12964654188932930640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the cardboard box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12894194754402365919.mp4"}
+{"uid":"12734284393042584463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the black coat from 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":"15760535288844113601.mp4"}
+{"uid":"16478085330932986911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11895408655155569319.mp4"}
+{"uid":"10997702237137638331","text":"\u003ctask:success:discrete:True\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"725076159503653128.mp4"}
+{"uid":"2706676205659728984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11169849670169652144.mp4"}
+{"uid":"15788579963851642437","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- place numi packet on the napkin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace numi packet on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace numi packet on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: place numi packet on the napkin\n\u003c/PRED\u003e","video":"4993567212442447077.mp4"}
+{"uid":"4448602294367820500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2943035915625526623.mp4"}
+{"uid":"4956894019477572496","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the top drawer 2- place numi packet on the table 3- place napkin on the counter 4- place spoon on the napkin 5- place numi packet on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table Q: immediate next step? \u003cPRED\u003eA: close the top drawer\n\u003c/PRED\u003e","video":"17284657391273555017.mp4"}
+{"uid":"10462907899270580622","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table Q: immediate next step? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a tissue paper on the table 2- place spoon on the napkin 3- place numi packet on the napkin 4- done\n\u003c/PRED\u003e","video":"400014333494199567.mp4"}
+{"uid":"17713244245624979005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nputting the cashews into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17463998855537574996.mp4"}
+{"uid":"5896251844597297287","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin 7- put tea bag on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin 7- put tea bag on the tissue paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea bag on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tea bag on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3970393312879728247.mp4"}
+{"uid":"16883230857627866057","text":"\u003ctask:success:discrete:False\u003e\nplace spoon on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter Q: immediate next step? \u003cPRED\u003eA: place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: place spoon on the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon on the napkin 2- place numi packet on the napkin 3- done\n\u003c/PRED\u003e","video":"8483639137126595428.mp4"}
+{"uid":"17317140238118440597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5379906396462472478.mp4"}
+{"uid":"12305616363966626091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knives 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":"17365671557343249687.mp4"}
+{"uid":"4375033653772544728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull 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":"8374744569201708827.mp4"}
+{"uid":"6839736864916073214","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on table 2- place spoon on the napkin 3- place numi packet on the napkin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on table\n\u003c/PRED\u003e","video":"3746652477677671533.mp4"}
+{"uid":"4219890669235202884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13563784834373040614.mp4"}
+{"uid":"3781516283397457123","text":"\u003ctask:success:discrete:False\u003e\nput packet on tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet Q: immediate next step? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: put packet on tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a spoon, napkin, mug from the drawer, and a tea packet. last 20 steps: 1- open the drawer 2- put cup on the table 3- close the top drawer 4- place numi packet on the table 5- place napkin on the counter 6- place spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on tissue 2- done\n\u003c/PRED\u003e","video":"17855014024320673540.mp4"}
+{"uid":"2031773389379822881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"60140899759061291.mp4"}