diff --git "a/json/train/data-00032-of-00160.json" "b/json/train/data-00032-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00032-of-00160.json"
@@ -0,0 +1,997 @@
+{"uid":"304136610730188087","text":"\u003ctask:success:discrete:True\u003e\npick up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e","video":"8527869057031288851.mp4"}
+{"uid":"1511265796785158688","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue candy into the tray 2- put the blue candy into the tray 3- place the blue candy into the tray 4- put the blue candy into the tray 5- place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8104263730211279407.mp4"}
+{"uid":"14050236123215578154","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue candy into 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: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray 17- place the blue candy into the tray 18- put the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray 17- place the blue candy into the tray 18- put the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue candy into the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e","video":"3346740868596037306.mp4"}
+{"uid":"8748552967799739369","text":"\u003ctask:success:discrete:True\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e","video":"15817263988471892683.mp4"}
+{"uid":"13336892997052507799","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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from table 2- pick up the pen from table 3- pick up the glass from the table 4- put the last packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4747664678328714794.mp4"}
+{"uid":"9431126542832334973","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass from the table 2- put the last packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table Q: immediate next step? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e","video":"4554667904336821863.mp4"}
+{"uid":"8923746853993289143","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: arrange the red candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the red candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the red candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the red candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the red candy 2- place the red candy into the tray 3- put the red candy into the tray 4- place the red candy into the tray 5- place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the red candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: arrange the red candy\n\u003c/PRED\u003e","video":"17042703415219144089.mp4"}
+{"uid":"17635780496331280552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8662793155820408490.mp4"}
+{"uid":"4622553344852050453","text":"\u003ctask:success:discrete:True\u003e\nput the glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass in the box\n\u003c/PRED\u003e","video":"18130256814741587454.mp4"}
+{"uid":"18426085552527222670","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the package\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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: pick up the package\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the package Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the package\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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the package 2- put the 2nd pen in the box 3- pick up the pen from table 4- pick up the glass from the table 5- put the last packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the package\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the package Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16411491346165187233.mp4"}
+{"uid":"4767683742220043455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5993334886766859728.mp4"}
+{"uid":"10233189397826148835","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":"11493208040712805448.mp4"}
+{"uid":"16840009902587124166","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box Q: immediate next step? \u003cPRED\u003eA: put the white packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white 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: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the box 2- put the 2nd pen in the box 3- pick up the pen from table 4- pick up the glass from the table 5- put the last packet in the box\n\u003c/PRED\u003e","video":"7298262194300161655.mp4"}
+{"uid":"12582347832233085104","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray 17- place the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray 17- place the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue candy into the tray 2- place the blue candy into the tray 3- done\n\u003c/PRED\u003e","video":"2725080924831716238.mp4"}
+{"uid":"9286282269933125961","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- pick up the fruit 3- put the fruit in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the box 2- pick up the pen 3- put the blue packet in the box 4- pick up the package from the table 5- put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on 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 glass on the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass on 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- pick up the fruit 3- put the fruit in the box Q: immediate next step? \u003cPRED\u003eA: put the glass on the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the box\n\u003c/PRED\u003e","video":"8807145177243925894.mp4"}
+{"uid":"14937636382761392422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9840523639624142346.mp4"}
+{"uid":"17817588825390042548","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box from the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the box from the table\n\u003c/PRED\u003e","video":"4805465101655260857.mp4"}
+{"uid":"14880279603980158090","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":"2556207559692231226.mp4"}
+{"uid":"7016228672686100758","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17472701074225288081.mp4"}
+{"uid":"12494919074291007336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6527326720178279938.mp4"}
+{"uid":"5097877861923982052","text":"\u003ctask:success:discrete:False\u003e\npick up the fruit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fruit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fruit 2- put the fruit in the box 3- drop glass in the box 4- pick up the pen 5- put the blue packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: pick up the fruit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fruit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fruit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the fruit\n\u003c/PRED\u003e","video":"1699104014160754357.mp4"}
+{"uid":"13700017337101970627","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":"5327431901864321768.mp4"}
+{"uid":"11935511270198817229","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue candy into the tray 2- place the blue candy into the tray 3- put the blue candy into the tray 4- place the blue candy into the tray 5- put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13302417465916712348.mp4"}
+{"uid":"1513543724413038532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2162619511567727022.mp4"}
+{"uid":"16244755426961423999","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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the box 2- put the 2nd pen in the box 3- pick up the pen from table 4- pick up the glass from the table 5- put the last packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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","video":"4908149264182540369.mp4"}
+{"uid":"16115795691432410132","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table Q: next 5 steps? \u003cPRED\u003eA: 1- throw the glass 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table Q: immediate next step? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e","video":"2553462168187718309.mp4"}
+{"uid":"18238403177422042392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2626226478317855585.mp4"}
+{"uid":"1643305272339833126","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue candy into 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: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue candy into the tray 2- put the blue candy into the tray 3- place the blue candy into the tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9632785460474410829.mp4"}
+{"uid":"15624427236664426650","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- arrange the red candy 5- place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7906816664949196215.mp4"}
+{"uid":"13660433999793473054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10520678732571473705.mp4"}
+{"uid":"6291841166778060030","text":"\u003ctask:success:discrete:True\u003e\nput the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e","video":"3682760974410242823.mp4"}
+{"uid":"9173615353145095243","text":"\u003ctask:success:discrete:True\u003e\nplace the mango 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 mango in the box\n\u003c/PRED\u003e","video":"4536739968335436262.mp4"}
+{"uid":"16159674936274398656","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the mango 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- place the mango in the box 2- pick up the pen 3- put the blue packet in the box 4- pick up the package from the table 5- put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the mango 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: place the mango in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the mango 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: place the mango in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the mango 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":"15574719864640294024.mp4"}
+{"uid":"16017255386493156419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8469963666226589277.mp4"}
+{"uid":"17012244171895384412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18424755499126576665.mp4"}
+{"uid":"14806758410009231383","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue candy into the tray 2- put the blue candy into the tray 3- place the blue candy into the tray 4- put the blue candy into the tray 5- place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11431045377570208356.mp4"}
+{"uid":"4054587335319711986","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2777894970336004188.mp4"}
+{"uid":"16100300945689304241","text":"\u003ctask:success:discrete:False\u003e\nthrow the blue packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the blue 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: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: throw the blue packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the blue packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the blue packet 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- throw the blue packet in the box 2- put the 2nd pen in the box 3- pick up the pen from table 4- pick up the glass from the table 5- put the last packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: throw the blue packet in the box\n\u003c/PRED\u003e","video":"16827475212031677875.mp4"}
+{"uid":"15219275580302137105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"24776341830599557.mp4"}
+{"uid":"11954665396239815667","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the last 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 last packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: put the last packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the last 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: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the last packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the last packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the last 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","video":"10304899635407251640.mp4"}
+{"uid":"7241912271781179718","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 2nd pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7936718795146754537.mp4"}
+{"uid":"9565413585925726137","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e","video":"11629156969879800757.mp4"}
+{"uid":"16438925532000842076","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the glass in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table Q: immediate next step? \u003cPRED\u003eA: put the glass in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass in the box 2- put the last packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14965295646954102984.mp4"}
+{"uid":"8358390521141543827","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the box 2- put the blue packet in the box 3- pick up the package from the table 4- put the 2nd pen in the box 5- pick up the pen from table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e","video":"17603246715028811582.mp4"}
+{"uid":"7492311556420769221","text":"\u003ctask:success:discrete:False\u003e\npick up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass 2- pick up the pen 3- put the blue packet in the box 4- pick up the package from the table 5- put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box Q: immediate next step? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e","video":"10084043891930323037.mp4"}
+{"uid":"17836426349714429365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18096731614209168096.mp4"}
+{"uid":"11626819096041306128","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3678065842461244421.mp4"}
+{"uid":"2796930240277443845","text":"\u003ctask:success:discrete:True\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"18433486352439811029.mp4"}
+{"uid":"15953556607125078671","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":"17305151303247207473.mp4"}
+{"uid":"6098600178785104349","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- pick up the fruit 3- put the fruit in the box Q: immediate next step? \u003cPRED\u003eA: drop glass 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- pick up the fruit 3- put the fruit in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop glass in the box 2- pick up the pen 3- put the blue packet in the box 4- pick up the package from the table 5- put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop glass in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop glass in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop glass in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"252089203326017046.mp4"}
+{"uid":"1975301781924088969","text":"\u003ctask:success:discrete:True\u003e\npick up the box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table 11- pick up the box from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the 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: pick up the box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table 11- pick up the box from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"106265699330534743.mp4"}
+{"uid":"2229696507989296920","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":"8300213081657113273.mp4"}
+{"uid":"11040676096064660335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11569503590076461705.mp4"}
+{"uid":"12089471835806267683","text":"\u003ctask:success:discrete:True\u003e\nthrow the 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\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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table 11- throw the object 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: throw the 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: 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table 11- throw the object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2279547989989721357.mp4"}
+{"uid":"16859804767768059439","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- put the blue packet in the box 3- pick up the package from the table 4- put the 2nd pen in the box 5- pick up the pen from table\n\u003c/PRED\u003e","video":"15886025962604068707.mp4"}
+{"uid":"12441418518947107935","text":"\u003ctask:success:discrete:True\u003e\nput the last packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table 11- put the last packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the last packet 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table 11- put the last packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5283342466096655516.mp4"}
+{"uid":"15134993682240494331","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 yellow packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet in the box 2- put the 2nd pen in the box 3- pick up the pen from table 4- pick up the glass from the table 5- put the last packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet in the box\n\u003c/PRED\u003e","video":"9289342105787249485.mp4"}
+{"uid":"3837422503457810879","text":"\u003ctask:success:discrete:True\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"16875252112717404394.mp4"}
+{"uid":"16599360972329131883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate 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":"1110868510864837358.mp4"}
+{"uid":"789941395174541573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the notepad on another note pad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9914995943309313889.mp4"}
+{"uid":"10992966062614438587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"18058562871802920119.mp4"}
+{"uid":"18122463670977844424","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- arrange the red candy 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"16778589424811576580.mp4"}
+{"uid":"10853104304964555199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14421556223075262600.mp4"}
+{"uid":"5904907672255822559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brush in the glass 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":"8239242792088401306.mp4"}
+{"uid":"347219794393791932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5465759112860806738.mp4"}
+{"uid":"1418595754247171327","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":"13610224457411106955.mp4"}
+{"uid":"17868543702231902970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4600120425323956124.mp4"}
+{"uid":"8087318274632751412","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into 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":"1739340901912485806.mp4"}
+{"uid":"5885061440402125733","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue candy into the tray 2- place the blue candy into the tray 3- put the blue candy into the tray 4- place the blue candy into the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue candy into 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: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e","video":"11151692942917724529.mp4"}
+{"uid":"11460279790780098892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2444652681541972725.mp4"}
+{"uid":"12447029136985654566","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14303051799335928680.mp4"}
+{"uid":"10616459103711079875","text":"\u003ctask:success:discrete:True\u003e\nthrow the blue packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the blue packet in the box\n\u003c/PRED\u003e","video":"7240492563127818760.mp4"}
+{"uid":"14798506747535549936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food packet right side 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":"16741692822613622948.mp4"}
+{"uid":"8474501901921406636","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":"14054130358345654238.mp4"}
+{"uid":"5943452182471164017","text":"\u003ctask:success:discrete:True\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"17205056283009919883.mp4"}
+{"uid":"1141868057226643473","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box Q: immediate next step? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from table 2- pick up the glass from the table 3- put the last packet in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from table\n\u003c/PRED\u003e","video":"14759563671912819507.mp4"}
+{"uid":"1418420384669618086","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red candy into 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: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the red candy into the tray 2- place the red candy into the tray 3- arrange the red candy 4- place the red candy into the tray 5- put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e","video":"18085986997279934581.mp4"}
+{"uid":"13497183030180814373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift up the screen cleaning wipe sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17823333980317399095.mp4"}
+{"uid":"4788082657971353695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6899763528008856268.mp4"}
+{"uid":"13588894751137428754","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11769710430434932251.mp4"}
+{"uid":"2090543134640409588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1646078200210787700.mp4"}
+{"uid":"9483669966582377392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the book in trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13476937772339261837.mp4"}
+{"uid":"8697368111134669457","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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the package from the table 2- put the 2nd pen in the box 3- pick up the pen from table 4- pick up the glass from the table 5- put the last packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen Q: immediate next step? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the package from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the package from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11851494800259821203.mp4"}
+{"uid":"15171693715257612953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow marker inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11300060633428587528.mp4"}
+{"uid":"10638792834720942578","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw another pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow another pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10362837865186913388.mp4"}
+{"uid":"8312633971817970701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5371392385700607000.mp4"}
+{"uid":"17806847450486168108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolates in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6380840003549818535.mp4"}
+{"uid":"12490602752167960734","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5710326315872991291.mp4"}
+{"uid":"5219234898186482034","text":"\u003ctask:success:discrete:False\u003e\nthrow the glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the glass 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- pick up the fruit 3- put the fruit in the box Q: immediate next step? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the glass in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: throw the glass 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- pick up the fruit 3- put the fruit in the box Q: next 5 steps? \u003cPRED\u003eA: 1- throw the glass in the box 2- pick up the pen 3- put the blue packet in the box 4- pick up the package from the table 5- put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e","video":"18361867030112130565.mp4"}
+{"uid":"15833307644951775666","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the box\n\u003c/PRED\u003e","video":"16747142606504989692.mp4"}
+{"uid":"8570077443732639078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1476468734193653287.mp4"}
+{"uid":"17980524493262718032","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- place the blue candy into the tray 5- put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into 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":"11742991447783021433.mp4"}
+{"uid":"1209207030631608125","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: throw another pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow another pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw another pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow another pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box Q: immediate next step? \u003cPRED\u003eA: throw another pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw another pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- throw another pen in the box 2- put the last packet in the box 3- done\n\u003c/PRED\u003e","video":"4791586060287805508.mp4"}
+{"uid":"2719166508586474208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the red candy into the tray 2- place the red candy into the tray 3- place the blue candy into the tray 4- put the blue candy into the tray 5- place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red candy into 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":"7837658905180698690.mp4"}
+{"uid":"14803673729572786339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in a row Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9455213546962070051.mp4"}
+{"uid":"16137614317832959708","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray 17- place the blue candy into the tray 18- put the blue candy into the tray 19- place the blue candy into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray 12- place the red candy into the tray 13- place the blue candy into the tray 14- put the blue candy into the tray 15- place the blue candy into the tray 16- put the blue candy into the tray 17- place the blue candy into the tray 18- put the blue candy into the tray 19- place the blue candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15362603704226422245.mp4"}
+{"uid":"13404634898831781351","text":"\u003ctask:success:discrete:True\u003e\nput the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e","video":"11087877838336078151.mp4"}
+{"uid":"13738907957219153766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4956907921977427815.mp4"}
+{"uid":"15790711786784556379","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the red candy into the tray 2- place the red candy into the tray 3- put the red candy into the tray 4- place the red candy into the tray 5- arrange the red candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e","video":"5381295393350302448.mp4"}
+{"uid":"315352037302139686","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop glass in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7102324931904544416.mp4"}
+{"uid":"9022277825921208004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food 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":"14304922692973471514.mp4"}
+{"uid":"108949086248156245","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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table Q: immediate next step? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table Q: next 5 steps? \u003cPRED\u003eA: 1- throw the pen in the box 2- pick up the pen from table 3- pick up the glass from the table 4- put the last packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e","video":"4672209088720364850.mp4"}
+{"uid":"1521252375880261803","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":"6197604656576092246.mp4"}
+{"uid":"17804132818366276490","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table Q: immediate next step? \u003cPRED\u003eA: put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 2nd pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 2nd pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 2nd pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the 2nd pen in the box 2- pick up the pen from table 3- pick up the glass from the table 4- put the last packet in the box 5- done\n\u003c/PRED\u003e","video":"17854439321734304978.mp4"}
+{"uid":"4807377124457098264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bowl 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":"6089909312304083153.mp4"}
+{"uid":"15861447288084004398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green cup on  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6456266043971044850.mp4"}
+{"uid":"4647253269456621272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red candy into 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":"118569639561294325.mp4"}
+{"uid":"9520746145358751419","text":"\u003ctask:success:discrete:True\u003e\npick up the package Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the package\n\u003c/PRED\u003e","video":"16875530088808491122.mp4"}
+{"uid":"11803426463547195189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen 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":"801557809261143985.mp4"}
+{"uid":"1672376572329186044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup upside down 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":"16816692198465685954.mp4"}
+{"uid":"3979439460030551409","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on 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":"562281593763785890.mp4"}
+{"uid":"4403769292982782447","text":"\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- place the red candy into the tray 5- put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into 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":"6023449633019896795.mp4"}
+{"uid":"4475142227328033370","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the glass in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6117477081803011480.mp4"}
+{"uid":"17505498295548238233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17281539275785378921.mp4"}
+{"uid":"10113938508396360346","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- place the red candy into the tray 3- put the red candy into the tray 4- place the red candy into the tray 5- place the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"4617405905828883123.mp4"}
+{"uid":"4466147177530492642","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e","video":"13885708428599387012.mp4"}
+{"uid":"11941753604374266577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5668793790832730816.mp4"}
+{"uid":"4839979914251785890","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the red candy into the tray 2- place the blue candy into the tray 3- put the blue candy into the tray 4- place the blue candy into the tray 5- put the blue candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray 8- put the red candy into the tray 9- place the red candy into the tray 10- place the red candy into the tray 11- put the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"5978228447806236541.mp4"}
+{"uid":"10954796336717085556","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red candy into 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: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray. last 20 steps: 1- place the red candy into the tray 2- put the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray 6- arrange the red candy 7- place the red candy into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the red candy into the tray 2- place the red candy into the tray 3- place the red candy into the tray 4- put the red candy into the tray 5- place the red candy into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the Unreal peanut butter patties in the back of the tray and the coconut bars in the front of the tray Q: immediate next step? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red candy into the tray\n\u003c/PRED\u003e","video":"17205272003708879528.mp4"}
+{"uid":"2160860305813685084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1425897872276791885.mp4"}
+{"uid":"838588184871327101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery 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":"14614555881470402966.mp4"}
+{"uid":"12129999020573161074","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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table Q: immediate next step? \u003cPRED\u003eA: throw the object into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the object into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the object 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- pick up the glass from the table Q: next 5 steps? \u003cPRED\u003eA: 1- throw the object into the box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the 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:affordance:discriminative:discrete:True\u003e\nthrow the 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: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: throw the object into the box\n\u003c/PRED\u003e","video":"4551127143832603756.mp4"}
+{"uid":"2448014263426346744","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 apple in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put apple in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 apple in the box 2- drop glass in the box 3- pick up the pen 4- put the blue packet in the box 5- pick up the package from the table\n\u003c/PRED\u003e","video":"106806972863988120.mp4"}
+{"uid":"18067708924998631046","text":"\u003ctask:success:discrete:True\u003e\npick up the fruit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the fruit\n\u003c/PRED\u003e","video":"8262158031057467503.mp4"}
+{"uid":"11940508108368338918","text":"\u003ctask:success:discrete:True\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"11780207689132095600.mp4"}
+{"uid":"2890421135103196167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace yellow candy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15066227393290559766.mp4"}
+{"uid":"12610690968406167182","text":"\u003ctask:success:discrete:True\u003e\nplace the red candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red candy into the tray\n\u003c/PRED\u003e","video":"5205862386423206477.mp4"}
+{"uid":"14631354817747753804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8812002688996275341.mp4"}
+{"uid":"17086825540101105373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the carton milk 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":"5298991034868683267.mp4"}
+{"uid":"7766007253089599123","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- pick up the fruit Q: immediate next step? \u003cPRED\u003eA: put the fruit 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 fruit in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit 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 fruit 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- pick up the fruit Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the box 2- drop glass in the box 3- pick up the pen 4- put the blue packet in the box 5- pick up the package from the table\n\u003c/PRED\u003e","video":"2243513219554370617.mp4"}
+{"uid":"17183627181084420130","text":"\u003ctask:success:discrete:True\u003e\nput the blue candy into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue candy into the tray\n\u003c/PRED\u003e","video":"13030733280602994042.mp4"}
+{"uid":"4508540966625135950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2799248725639054616.mp4"}
+{"uid":"14798695511062124038","text":"\u003ctask:success:discrete:True\u003e\npick up the package from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e","video":"14799655654963525825.mp4"}
+{"uid":"7920252939407136501","text":"\u003ctask:success:discrete:False\u003e\nthrow the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box Q: next 5 steps? \u003cPRED\u003eA: 1- throw the pen in the box 2- pick up the package from the table 3- put the 2nd pen in the box 4- pick up the pen from table 5- pick up the glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- pick up the fruit 3- put the fruit in the box 4- drop glass in the box Q: immediate next step? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e","video":"14287298093343059735.mp4"}
+{"uid":"13355016238915064825","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the box\n\u003c/PRED\u003e","video":"5996505014879054594.mp4"}
+{"uid":"11816477731231297879","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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- throw the glass in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the glass 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- pick up the fruit 3- put the fruit in the box 4- drop glass in the box 5- pick up the pen 6- put the blue packet in the box 7- pick up the package from the table 8- put the 2nd pen in the box 9- pick up the pen from table 10- throw the glass in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the glass in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12798214916242144579.mp4"}
+{"uid":"9775661988250647847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11010296503325053088.mp4"}
+{"uid":"17162104196854961518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17912900981478989140.mp4"}
+{"uid":"13295848815263460597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1628264199452204826.mp4"}
+{"uid":"18308585798886078630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate stone in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10259194936448430701.mp4"}
+{"uid":"7690695796201843024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5988159552768479067.mp4"}
+{"uid":"7155203452290644675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the blue pen in the left holder 3- Put the blue pen in the left holder 4- Put the red pen in the left holder 5- Put the blue pen in the left holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Arrange the knife in the holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Put the knife in the middle holder 14- Put the knife in the middle holder 15- Put the forks in the right holder 16- Put the forks in the right holder 17- Put the forks in the right holder 18- Put the forks in the holder 19- Put the holder upright on the table 20- Put the fork in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the blue pen in the left holder 3- Put the blue pen in the left holder 4- Put the red pen in the left holder 5- Put the blue pen in the left holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Arrange the knife in the holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Put the knife in the middle holder 14- Put the knife in the middle holder 15- Put the forks in the right holder 16- Put the forks in the right holder 17- Put the forks in the right holder 18- Put the forks in the holder 19- Put the holder upright on the table 20- Put the fork in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right holder 2- Put the fork in the right holder 3- Move the holder in right side 4- Put the forks in the right holder 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12257393992428139044.mp4"}
+{"uid":"6830322939550286384","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the forks in the right holder 4- Put the forks in the right holder 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e","video":"10646310365932869298.mp4"}
+{"uid":"15073423714041052761","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the holder in right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the red pen in the left holder 3- Put the blue pen in the left holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Arrange the knife in the holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Put the forks in the right holder 14- Put the forks in the right holder 15- Put the forks in the right holder 16- Put the forks in the holder 17- Put the holder upright on the table 18- Put the fork in the right holder 19- Put the fork in the right holder 20- Put the fork in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder in right side 2- Put the forks in the right holder 3- Put the forks in the right holder 4- Put the forks in the right holder 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the holder in right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the red pen in the left holder 3- Put the blue pen in the left holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Arrange the knife in the holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Put the forks in the right holder 14- Put the forks in the right holder 15- Put the forks in the right holder 16- Put the forks in the holder 17- Put the holder upright on the table 18- Put the fork in the right holder 19- Put the fork in the right holder 20- Put the fork in the right holder Q: immediate next step? \u003cPRED\u003eA: Move the holder in right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the holder in right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder in right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Move the holder in right side\n\u003c/PRED\u003e","video":"4271155496947898914.mp4"}
+{"uid":"5984717933982818312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1762282510080890691.mp4"}
+{"uid":"9067162158403609593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15638691264561122629.mp4"}
+{"uid":"1960462386859023748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen in the pen holder. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3026077671050974358.mp4"}
+{"uid":"9815083588153697317","text":"\u003ctask:success:discrete:False\u003e\nPut the knife in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Arrange the knife in the holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e","video":"6656704853596622494.mp4"}
+{"uid":"509493959392156901","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table 7- put packet on table 8- put packet on table 9- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table 7- put packet on table 8- put packet on table 9- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12615882267288911916.mp4"}
+{"uid":"801356118286848634","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table 7- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table 7- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"14739137671055657789.mp4"}
+{"uid":"2728147006056908798","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Arrange the knife in the holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e","video":"3004155605566496110.mp4"}
+{"uid":"8027886595493137453","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder 18- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the forks in the right holder 3- Put the forks in the holder 4- Put the holder upright on the table 5- Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder 18- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e","video":"9054900166705512793.mp4"}
+{"uid":"13874736741609684110","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":"3126903217204965345.mp4"}
+{"uid":"7373244267439385241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a stikcy notes in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17342870161320718592.mp4"}
+{"uid":"4549798420264174824","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- done\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 get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"17173288164770410728.mp4"}
+{"uid":"6656069236610459160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6464939174933519776.mp4"}
+{"uid":"10835010754774071724","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Arrange the knife in the holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the forks in the right holder 10- Put the forks in the right holder 11- Put the forks in the right holder 12- Put the forks in the holder 13- Put the holder upright on the table 14- Put the fork in the right holder 15- Put the fork in the right holder 16- Put the fork in the right holder 17- Move the holder in right side 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Arrange the knife in the holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the forks in the right holder 10- Put the forks in the right holder 11- Put the forks in the right holder 12- Put the forks in the holder 13- Put the holder upright on the table 14- Put the fork in the right holder 15- Put the fork in the right holder 16- Put the fork in the right holder 17- Move the holder in right side 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the fork in the right holder 3- Arrange the forks 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e","video":"10249515542762811163.mp4"}
+{"uid":"9836381146546888211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13680029725621779881.mp4"}
+{"uid":"13003967586872075265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black pens in the left side 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":"5596304437149653183.mp4"}
+{"uid":"10658117923694212237","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\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","video":"13952169306754247033.mp4"}
+{"uid":"3783180678219303575","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"383444473058483766.mp4"}
+{"uid":"752823506695369440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5199091628512277840.mp4"}
+{"uid":"4612031591220034174","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the holder upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the holder upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the blue pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the red pen in the left holder 7- Put the blue pen in the left holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Arrange the knife in the holder 13- Put the knife in the middle holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder upright on the table 2- Put the fork in the right holder 3- Put the fork in the right holder 4- Put the fork in the right holder 5- Move the holder in right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the blue pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the red pen in the left holder 7- Put the blue pen in the left holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Arrange the knife in the holder 13- Put the knife in the middle holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the holder Q: immediate next step? \u003cPRED\u003eA: Put the holder upright on the table\n\u003c/PRED\u003e","video":"12640950166710246999.mp4"}
+{"uid":"12538466859317921736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12494055339769404332.mp4"}
+{"uid":"60665974939069942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"15650487582011204063.mp4"}
+{"uid":"17181568837096827929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nora packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14959015291910724986.mp4"}
+{"uid":"14859849789514253907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"1832556754448388096.mp4"}
+{"uid":"18114922160903944585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11899225379156218359.mp4"}
+{"uid":"2165376308923336869","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen in the left holder 2- Put the blue pen in the left holder 3- Put the blue pen in the left holder 4- Put the blue pen in the left holder 5- Put the red pen in the left holder\n\u003c/PRED\u003e","video":"10742046210285893292.mp4"}
+{"uid":"2318296438964601958","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fork in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the blue pen in the left holder 3- Put the blue pen in the left holder 4- Put the blue pen in the left holder 5- Put the red pen in the left holder 6- Put the blue pen in the left holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Arrange the knife in the holder 12- Put the knife in the middle holder 13- Put the knife in the middle holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the forks in the right holder 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the holder 20- Put the holder upright on the table Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the blue pen in the left holder 3- Put the blue pen in the left holder 4- Put the blue pen in the left holder 5- Put the red pen in the left holder 6- Put the blue pen in the left holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Arrange the knife in the holder 12- Put the knife in the middle holder 13- Put the knife in the middle holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the forks in the right holder 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the holder 20- Put the holder upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right holder 2- Put the fork in the right holder 3- Put the fork in the right holder 4- Move the holder in right side 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e","video":"11008502984696834097.mp4"}
+{"uid":"10457224165492098820","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Arrange the knife in the holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the forks in the right holder 12- Put the forks in the right holder 13- Put the forks in the right holder 14- Put the forks in the holder 15- Put the holder upright on the table 16- Put the fork in the right holder 17- Put the fork in the right holder 18- Put the fork in the right holder 19- Move the holder in right side 20- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the forks in the right holder 3- Put the forks in the right holder 4- Put the fork in the right holder 5- Arrange the forks\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Arrange the knife in the holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the forks in the right holder 12- Put the forks in the right holder 13- Put the forks in the right holder 14- Put the forks in the holder 15- Put the holder upright on the table 16- Put the fork in the right holder 17- Put the fork in the right holder 18- Put the fork in the right holder 19- Move the holder in right side 20- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12601305568663176661.mp4"}
+{"uid":"10655102675284086189","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the left holder 2- Put the blue pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e","video":"3431385144913537937.mp4"}
+{"uid":"18113806653792162380","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Arrange the forks\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Arrange the knife in the holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the forks in the right holder 8- Put the forks in the right holder 9- Put the forks in the right holder 10- Put the forks in the holder 11- Put the holder upright on the table 12- Put the fork in the right holder 13- Put the fork in the right holder 14- Put the fork in the right holder 15- Move the holder in right side 16- Put the forks in the right holder 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the fork in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the forks 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the forks\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the forks\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Arrange the knife in the holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the forks in the right holder 8- Put the forks in the right holder 9- Put the forks in the right holder 10- Put the forks in the holder 11- Put the holder upright on the table 12- Put the fork in the right holder 13- Put the fork in the right holder 14- Put the fork in the right holder 15- Move the holder in right side 16- Put the forks in the right holder 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the fork in the right holder Q: immediate next step? \u003cPRED\u003eA: Arrange the forks\n\u003c/PRED\u003e","video":"16613307996647817109.mp4"}
+{"uid":"8226627116914724143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13580127580782904106.mp4"}
+{"uid":"9064591507709643052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16591064519621089430.mp4"}
+{"uid":"7945999353827590988","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the forks in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the holder 2- Put the holder upright on the table 3- Put the fork in the right holder 4- Put the fork in the right holder 5- Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the holder\n\u003c/PRED\u003e","video":"7377207284381151258.mp4"}
+{"uid":"3778388165175469832","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the blue pen in the left holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Arrange the knife in the holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the forks in the right holder 13- Put the forks in the right holder 14- Put the forks in the right holder 15- Put the forks in the holder 16- Put the holder upright on the table 17- Put the fork in the right holder 18- Put the fork in the right holder 19- Put the fork in the right holder 20- Move the holder in right side Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the forks in the right holder 3- Put the forks in the right holder 4- Put the forks in the right holder 5- Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the blue pen in the left holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Arrange the knife in the holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the forks in the right holder 13- Put the forks in the right holder 14- Put the forks in the right holder 15- Put the forks in the holder 16- Put the holder upright on the table 17- Put the fork in the right holder 18- Put the fork in the right holder 19- Put the fork in the right holder 20- Move the holder in right side Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the forks in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1000037450127747642.mp4"}
+{"uid":"11496831410085723030","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"15178605874509660625.mp4"}
+{"uid":"4953731963117356424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wet tissue paper in 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":"865604279839461245.mp4"}
+{"uid":"4614727632074842918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2150645898922921286.mp4"}
+{"uid":"10092166852845655328","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":"16591464520131550761.mp4"}
+{"uid":"14072975494343695946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen in the left holder 2- Put the blue pen in the left holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e","video":"15495708842536996290.mp4"}
+{"uid":"1501572065827774818","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Arrange the knife in the holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the forks in the right holder 9- Put the forks in the right holder 10- Put the forks in the right holder 11- Put the forks in the holder 12- Put the holder upright on the table 13- Put the fork in the right holder 14- Put the fork in the right holder 15- Put the fork in the right holder 16- Move the holder in right side 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fork in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Arrange the knife in the holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the forks in the right holder 9- Put the forks in the right holder 10- Put the forks in the right holder 11- Put the forks in the holder 12- Put the holder upright on the table 13- Put the fork in the right holder 14- Put the fork in the right holder 15- Put the fork in the right holder 16- Move the holder in right side 17- Put the forks in the right holder 18- Put the forks in the right holder 19- Put the forks in the right holder 20- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right holder 2- Arrange the forks 3- done\n\u003c/PRED\u003e","video":"3938651933225993310.mp4"}
+{"uid":"8299546555156515808","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the blue pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e","video":"15345272279377267089.mp4"}
+{"uid":"474953949309105821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rubber band 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":"1597892849362230317.mp4"}
+{"uid":"9904378917246021906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spatula on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1687751222840692000.mp4"}
+{"uid":"3702160518870603690","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the left holder 2- Put the blue pen in the left holder 3- Put the blue pen in the left holder 4- Put the red pen in the left holder 5- Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8792895801048827927.mp4"}
+{"uid":"12173310033746349796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5726031589492340749.mp4"}
+{"uid":"12927231242130827189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the forks in the right holder 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e","video":"16384203845770395093.mp4"}
+{"uid":"13963484159886214778","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the left holder 2- Put the red pen in the left holder 3- Put the blue pen in the left holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e","video":"4513586970967035382.mp4"}
+{"uid":"17606716744096174459","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the forks in the right holder 3- Put the forks in the right holder 4- Put the forks in the right holder 5- Put the forks in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12450335413271117083.mp4"}
+{"uid":"13272573869165789113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tin 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":"3724647283720370449.mp4"}
+{"uid":"2285264854285424182","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":"9693976562490377111.mp4"}
+{"uid":"4409205609311766803","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table 7- put packet on table 8- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table 6- put packet on table 7- put packet on table 8- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- done\n\u003c/PRED\u003e","video":"16080400330552263126.mp4"}
+{"uid":"10867336136262944903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15773903071581420177.mp4"}
+{"uid":"31756367835678238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sponge brush 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":"11224102551578060017.mp4"}
+{"uid":"10808267781174302262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4489994099866975133.mp4"}
+{"uid":"5367835851769167666","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\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","video":"13916616422463715643.mp4"}
+{"uid":"6717248090110392259","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the left holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the left holder\n\u003c/PRED\u003e","video":"10434069066520997992.mp4"}
+{"uid":"3190276606655077472","text":"\u003ctask:success:discrete:False\u003e\nArrange the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Arrange the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the knife in the holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Arrange the knife in the holder\n\u003c/PRED\u003e","video":"17507022824328498559.mp4"}
+{"uid":"1172921148979435726","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table\n\u003c/PRED\u003e","video":"14909567593155213318.mp4"}
+{"uid":"16412627658224191108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1599065073223859242.mp4"}
+{"uid":"5342550375715951087","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"11733855111481678616.mp4"}
+{"uid":"1449017891535605521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16243693831069658297.mp4"}
+{"uid":"10938744932952484711","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Arrange the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2304944045380415817.mp4"}
+{"uid":"10446353995570883589","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder 18- Put the forks in the right holder 19- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the forks in the holder 3- Put the holder upright on the table 4- Put the fork in the right holder 5- Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder 18- Put the forks in the right holder 19- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e","video":"9455097875310964547.mp4"}
+{"uid":"9352828998164960512","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the middle holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e","video":"16575646086742693904.mp4"}
+{"uid":"1335341027468065687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15790041768577714464.mp4"}
+{"uid":"16904632105964833539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fork in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13123055695035235138.mp4"}
+{"uid":"15405295765527877328","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":"13638654695305640077.mp4"}
+{"uid":"17519005031009901587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1015669118286944249.mp4"}
+{"uid":"4516595375731513558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the right potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8050510129384886664.mp4"}
+{"uid":"12690357230956690283","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Arrange the knife in the holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the forks in the right holder 11- Put the forks in the right holder 12- Put the forks in the right holder 13- Put the forks in the holder 14- Put the holder upright on the table 15- Put the fork in the right holder 16- Put the fork in the right holder 17- Put the fork in the right holder 18- Move the holder in right side 19- Put the forks in the right holder 20- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Put the knife in the middle holder 4- Put the knife in the middle holder 5- Arrange the knife in the holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Put the knife in the middle holder 10- Put the forks in the right holder 11- Put the forks in the right holder 12- Put the forks in the right holder 13- Put the forks in the holder 14- Put the holder upright on the table 15- Put the fork in the right holder 16- Put the fork in the right holder 17- Put the fork in the right holder 18- Move the holder in right side 19- Put the forks in the right holder 20- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the forks in the right holder 3- Put the fork in the right holder 4- Arrange the forks 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e","video":"8536315613479620059.mp4"}
+{"uid":"13954675701613264111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15484748764439202966.mp4"}
+{"uid":"8162091832159736741","text":"\u003ctask:success:discrete:False\u003e\nPut the red pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the left holder\n\u003c/PRED\u003e","video":"6665434111046420878.mp4"}
+{"uid":"1870359683392368765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"1122903669006044953.mp4"}
+{"uid":"18079896781661321453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue marker 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":"1436436362023733144.mp4"}
+{"uid":"11765847922929953705","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on table 3- put packet on table 4- put packet on table 5- put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get me 4 seaweed, 3 red Unreal butter cup, 2 blue coconut butter cup and 1 caffeinated snack bar from the tray. last 20 steps: 1- put packet on table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"16020670677413348337.mp4"}
+{"uid":"14426404421124785572","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":"10281901843288405642.mp4"}
+{"uid":"18185016376578002168","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the blue pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Arrange the knife in the holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Put the knife in the middle holder 14- Put the forks in the right holder 15- Put the forks in the right holder 16- Put the forks in the right holder 17- Put the forks in the holder 18- Put the holder upright on the table 19- Put the fork in the right holder 20- Put the fork in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the right holder 2- Move the holder in right side 3- Put the forks in the right holder 4- Put the forks in the right holder 5- Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the blue pen in the left holder 2- Put the blue pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the knife in the middle holder 6- Put the knife in the middle holder 7- Put the knife in the middle holder 8- Put the knife in the middle holder 9- Arrange the knife in the holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Put the knife in the middle holder 14- Put the forks in the right holder 15- Put the forks in the right holder 16- Put the forks in the right holder 17- Put the forks in the holder 18- Put the holder upright on the table 19- Put the fork in the right holder 20- Put the fork in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the fork in the right holder\n\u003c/PRED\u003e","video":"10673413570675393521.mp4"}
+{"uid":"14903643002456529307","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Put the forks in the right holder 3- Put the forks in the right holder 4- Put the forks in the holder 5- Put the holder upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder 11- Put the knife in the middle holder 12- Put the knife in the middle holder 13- Arrange the knife in the holder 14- Put the knife in the middle holder 15- Put the knife in the middle holder 16- Put the knife in the middle holder 17- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the forks in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8565007305160789157.mp4"}
+{"uid":"17561903662713820176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16557735776924395889.mp4"}
+{"uid":"18309040261862192234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10649129517566248159.mp4"}
+{"uid":"9060906998286766796","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the knife in the middle holder 3- Arrange the knife in the holder 4- Put the knife in the middle holder 5- Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the pens, the knives and the forks into their own containers. last 20 steps: 1- Put the red pen in the left holder 2- Put the red pen in the left holder 3- Put the red pen in the left holder 4- Put the blue pen in the left holder 5- Put the blue pen in the left holder 6- Put the blue pen in the left holder 7- Put the red pen in the left holder 8- Put the blue pen in the left holder 9- Put the knife in the middle holder 10- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10978690217059799952.mp4"}
+{"uid":"11388701325525215296","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"12634885763305019622.mp4"}
+{"uid":"468555051916795394","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e","video":"656971205169139643.mp4"}
+{"uid":"9055710887586381169","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the packets 2- place the packet on the packets 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e","video":"17865179369303075526.mp4"}
+{"uid":"2607455138216812793","text":"\u003ctask:success:discrete:False\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put the white packet in the jar 3- place blue pen in pen stand 4- place orange pen in pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1499323189949068648.mp4"}
+{"uid":"17298782153188900927","text":"\u003ctask:success:discrete:True\u003e\nplace blue pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e","video":"18025494182590756432.mp4"}
+{"uid":"16180414643224905547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the white 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":"2114777606747529863.mp4"}
+{"uid":"2242922659342272868","text":"\u003ctask:success:discrete:True\u003e\nplace blue pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e","video":"13908965018588927317.mp4"}
+{"uid":"2669700530054021648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the thick black 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":"10395477676127655044.mp4"}
+{"uid":"1957719529844567037","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe the papers on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe the papers on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWipe the papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWipe the papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table Q: immediate next step? \u003cPRED\u003eA: Wipe the papers on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: Wipe the papers on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe the papers on the table\n\u003c/PRED\u003e","video":"1157010109144183745.mp4"}
+{"uid":"14612007182884804401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"889916979484076407.mp4"}
+{"uid":"5092583931099455487","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the packets 4- place the packet on the packets 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"12232323171120649245.mp4"}
+{"uid":"17748808171486691832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3672228887007002010.mp4"}
+{"uid":"7230161268709513998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the clip 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":"9471123962572987960.mp4"}
+{"uid":"8802021480604818700","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers 4- wipe down the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e","video":"11377428795525026104.mp4"}
+{"uid":"12038354771659664312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8025752652926053137.mp4"}
+{"uid":"10417815527114044295","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand\n\u003c/PRED\u003e","video":"10292284428688085845.mp4"}
+{"uid":"4541054054990977754","text":"\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- put the white packet in the jar 3- place blue pen in pen stand 4- place orange pen in pen stand 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17177016151312216640.mp4"}
+{"uid":"10111546513597214661","text":"\u003ctask:success:discrete:True\u003e\nplace a white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e","video":"6079683642119690896.mp4"}
+{"uid":"7027040073970709882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12677808547068335119.mp4"}
+{"uid":"17275644065462493490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3626435815992517752.mp4"}
+{"uid":"8848062741980394247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"793636728975301605.mp4"}
+{"uid":"9530628249169579300","text":"\u003ctask:success:discrete:True\u003e\nplace a white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e","video":"18091969837561797860.mp4"}
+{"uid":"7667694351775273566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18004360718843804528.mp4"}
+{"uid":"14972785965804127872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9807573728331879119.mp4"}
+{"uid":"11547798783868615218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic sipper beside the kitchen sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15219885153667581031.mp4"}
+{"uid":"8753464732862441335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4798603500183437033.mp4"}
+{"uid":"10936123079360493424","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place black pen in pen stand 2- place brown white packet in jar 3- put the white packet in the jar 4- place blue pen in pen stand 5- place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace black pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace black pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e","video":"14941917923406417703.mp4"}
+{"uid":"14688547036670067346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2060087221644989781.mp4"}
+{"uid":"11117311195572376147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in pen stand 2- place black pen in pen stand 3- place brown white packet in jar 4- put the white packet in the jar 5- place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- place brown white packet in jar 3- put the white packet in the jar 4- place blue pen in pen stand 5- place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: immediate next step? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"6645416868146476819.mp4"}
+{"uid":"11188051750421680604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4554676134459642185.mp4"}
+{"uid":"8264379802436189625","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place blue packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place blue packet in jar 2- place a white packet in jar 3- place blue pen in pen stand 4- place black pen in pen stand 5- place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar Q: immediate next step? \u003cPRED\u003eA: place blue packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue packet in jar\n\u003c/PRED\u003e","video":"16873931239969993794.mp4"}
+{"uid":"359991833113919296","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in pen stand 2- put the white packet in the jar 3- place blue pen in pen stand 4- place orange pen in pen stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e","video":"16691801193903052821.mp4"}
+{"uid":"1198923405156179819","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- place blue pen in pen stand 3- place orange pen in pen stand 4- done\n\u003c/PRED\u003e","video":"11659427421182405128.mp4"}
+{"uid":"14601881629029544703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the right side of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1420944965968098525.mp4"}
+{"uid":"3367391122206724445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the packets to the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3275447067220515476.mp4"}
+{"uid":"4210117601309425803","text":"\u003ctask:success:discrete:True\u003e\nplace orange pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand 9- place orange pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand 9- place orange pen in pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1187515174060706356.mp4"}
+{"uid":"17253034734515003585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4374500368548657814.mp4"}
+{"uid":"3542278955001711804","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"5568228172679005352.mp4"}
+{"uid":"11968907284698920428","text":"\u003ctask:success:discrete:True\u003e\nplace a white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e","video":"9850573681417459094.mp4"}
+{"uid":"10429283408000949950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place a pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place a pen in pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10486442011106181454.mp4"}
+{"uid":"10195347361417055999","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe down 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:success:discrete:True\u003e\npick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe down the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe down 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: immediate next step? \u003cPRED\u003eA: wipe down the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe down the packet\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: next 5 steps? \u003cPRED\u003eA: 1- wipe down the packet 2- wipe down the wrappers 3- wipe down the cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: wipe down the packet\n\u003c/PRED\u003e","video":"17973723393120555360.mp4"}
+{"uid":"17506733079695070039","text":"\u003ctask:success:discrete:True\u003e\nplace a white  packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white  packet in jar\n\u003c/PRED\u003e","video":"10748755120732743083.mp4"}
+{"uid":"11150831909450438255","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table 9- place the packet on the packets Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the packets 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table 9- place the packet on the packets Q: immediate next step? \u003cPRED\u003eA: place the packet on the packets\n\u003c/PRED\u003e","video":"11608992004179534662.mp4"}
+{"uid":"11684989152324331738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18291944531868754893.mp4"}
+{"uid":"15521462107972364626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"5736234033752866826.mp4"}
+{"uid":"9724580738311901058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to 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":"1696861368464448775.mp4"}
+{"uid":"2321992579861540232","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16107587131948918688.mp4"}
+{"uid":"2562784882564744141","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place orange pen in pen stand 2- done\n\u003c/PRED\u003e","video":"6131419359531296693.mp4"}
+{"uid":"3148476247927671202","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place small blue packet in jar 2- place a white packet in jar 3- place blue pen in pen stand 4- place black pen in pen stand 5- place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place small blue packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place small blue packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place small blue packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace small blue packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place small blue packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace small blue packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8591279926267703078.mp4"}
+{"uid":"9290925552120841783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cups 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":"6913099356534199775.mp4"}
+{"uid":"10850341122178479529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1051782477197920584.mp4"}
+{"uid":"9968653089409876265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in pen stand 2- place orange pen in pen stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in pen stand\n\u003c/PRED\u003e","video":"6445861168788268668.mp4"}
+{"uid":"1616328482343121210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep orange in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17567003254935427214.mp4"}
+{"uid":"8731755838152773222","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in jar 2- place orange pen in pen stand 3- done\n\u003c/PRED\u003e","video":"3228750931459504566.mp4"}
+{"uid":"2691598942158062886","text":"\u003ctask:success:discrete:True\u003e\nplace brown white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e","video":"5787051471076444302.mp4"}
+{"uid":"5014700462792910122","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"10873167324759394270.mp4"}
+{"uid":"17899503725118479896","text":"\u003ctask:success:discrete:False\u003e\nPick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers 4- wipe down the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the brush\n\u003c/PRED\u003e","video":"10857755852866926390.mp4"}
+{"uid":"8141820237629902341","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe the cover on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWipe the cover on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWipe the cover on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: immediate next step? \u003cPRED\u003eA: Wipe the cover on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe the cover on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: Wipe the cover on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe the cover on the table 2- wipe down the wrappers 3- wipe down the cup 4- done\n\u003c/PRED\u003e","video":"4722665326982736766.mp4"}
+{"uid":"1882274072996214083","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1844988443206120073.mp4"}
+{"uid":"10999522630732460845","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar Q: immediate next step? \u003cPRED\u003eA: place white packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place white packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in jar 2- place blue pen in pen stand 3- place orange pen in pen stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5864394667697466951.mp4"}
+{"uid":"1732835651112379788","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand 9- put the orange pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand 9- put the orange pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12281608790475224326.mp4"}
+{"uid":"4668104606363987894","text":"\u003ctask:success:discrete:True\u003e\nplace small blue packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place small blue packet in jar\n\u003c/PRED\u003e","video":"12323661921867883046.mp4"}
+{"uid":"4970138343106794292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1465821519139874880.mp4"}
+{"uid":"7118077226692361910","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place brown white packet in jar 2- put the white packet in the jar 3- place blue pen in pen stand 4- place orange pen in pen stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e","video":"8380700733215732974.mp4"}
+{"uid":"17767423268492201200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Wipe the papers on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- Wipe the papers on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- Wipe the papers on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWipe the papers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14376655535519992004.mp4"}
+{"uid":"12593573437422720856","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand 9- place a pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand 9- place a pen in pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11347180498183744715.mp4"}
+{"uid":"17962922366753403035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the right gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1650484050230108191.mp4"}
+{"uid":"13206546217959833294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1891495752348385114.mp4"}
+{"uid":"2961308431860452664","text":"\u003ctask:success:discrete:False\u003e\nput the orange pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"329895047790745926.mp4"}
+{"uid":"5129259603667372690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5947451195956567682.mp4"}
+{"uid":"4438631502953574620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10927514147689318867.mp4"}
+{"uid":"17376926004619604767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8063035206509079452.mp4"}
+{"uid":"11574719164009120433","text":"\u003ctask:success:discrete:True\u003e\nwipe down the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers 4- wipe down the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe down the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers 4- wipe down the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6177206619817357581.mp4"}
+{"uid":"6776576891943512926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the chair near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10035178766011504757.mp4"}
+{"uid":"17355816961760052551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8211996136075036019.mp4"}
+{"uid":"18166118364360121649","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe down the wrappers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: immediate next step? \u003cPRED\u003eA: wipe down the wrappers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: next 5 steps? \u003cPRED\u003eA: 1- wipe down the wrappers 2- wipe down the cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe down the wrappers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe down the wrappers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe down the wrappers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: wipe down the wrappers\n\u003c/PRED\u003e","video":"40761244703622940.mp4"}
+{"uid":"15391792770823074821","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16179003580142790415.mp4"}
+{"uid":"5006649346033264271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18334375349506844457.mp4"}
+{"uid":"3594958965403635883","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"4655228096892220812.mp4"}
+{"uid":"8019288049400004943","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in jar 2- place black pen in pen stand 3- place brown white packet in jar 4- put the white packet in the jar 5- place blue pen in pen stand\n\u003c/PRED\u003e","video":"11291921515612189076.mp4"}
+{"uid":"13444557935348344404","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brush 2- wipe down the wrappers 3- wipe down the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11679063304807842692.mp4"}
+{"uid":"9012034517259804808","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- place blue pen in pen stand 3- place black pen in pen stand 4- place brown white packet in jar 5- put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: immediate next step? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place brown white packet in jar 2- place blue pen in pen stand 3- place black pen in pen stand 4- place brown white packet in jar 5- put the white packet in the jar\n\u003c/PRED\u003e","video":"17484226293927390202.mp4"}
+{"uid":"2017355743078379181","text":"\u003ctask:success:discrete:False\u003e\nwipe off the covers from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe off the covers from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: wipe off the covers from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe off the covers from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe off the covers from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe off the covers from the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table Q: immediate next step? \u003cPRED\u003eA: wipe off the covers from the table\n\u003c/PRED\u003e","video":"14582639018878383491.mp4"}
+{"uid":"16323158535446619163","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"4517854534173098150.mp4"}
+{"uid":"12873704304041798074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy in the white bowl from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11486300819682689921.mp4"}
+{"uid":"6790494083824383960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10908341658958927456.mp4"}
+{"uid":"1185625461298109666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a plastic wrap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11974663695449794358.mp4"}
+{"uid":"2092534441993130657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red diary on the right 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":"9522873465951170218.mp4"}
+{"uid":"4964758544701336724","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand 6- place brown white packet in jar 7- put the white packet in the jar 8- place blue pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in pen stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e","video":"9516351788063059252.mp4"}
+{"uid":"11565294004002469675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"12112761793146118341.mp4"}
+{"uid":"1768040850263004305","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4471026084671662479.mp4"}
+{"uid":"11056474276092326787","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"164007387018691813.mp4"}
+{"uid":"7397608358554067278","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe down the wrappers\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe down the wrappers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12483999166005704439.mp4"}
+{"uid":"17406780094347918717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6947791657858421314.mp4"}
+{"uid":"9856763510405603104","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"223850287294503620.mp4"}
+{"uid":"1344834124211595392","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"12626972631129176743.mp4"}
+{"uid":"6491180241969669568","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the packets 3- place the packet on the packets 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"8573921023419310640.mp4"}
+{"uid":"2582008951427663748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate 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":"841720015048545438.mp4"}
+{"uid":"12828315681978442991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3415653069859668032.mp4"}
+{"uid":"11416244722245831635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white plastic bottle in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18106035532784574110.mp4"}
+{"uid":"2794114558052154319","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- place a white packet in jar 3- place blue pen in pen stand 4- place black pen in pen stand 5- place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10269565265679131123.mp4"}
+{"uid":"15669553462882289020","text":"\u003ctask:success:discrete:False\u003e\nplace a white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a white packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in jar 2- place blue pen in pen stand 3- place orange pen in pen stand 4- done\n\u003c/PRED\u003e","video":"326838606621928728.mp4"}
+{"uid":"8264363211137579929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"1668570799779092143.mp4"}
+{"uid":"2302249524454788302","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"12883874919409292467.mp4"}
+{"uid":"8894727784871206059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16876296304348616355.mp4"}
+{"uid":"12261757864965717310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16283654990456886136.mp4"}
+{"uid":"12602370242511607988","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe down 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: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers Q: immediate next step? \u003cPRED\u003eA: wipe down the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe down the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe down the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers Q: next 5 steps? \u003cPRED\u003eA: 1- wipe down the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: wipe down the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe down the cup\n\u003c/PRED\u003e","video":"16416152342708225614.mp4"}
+{"uid":"15328637179465993039","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the packets 5- place the packet on the packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"1080405694396925901.mp4"}
+{"uid":"10010381659762345335","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: Wipe the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWipe the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers Q: immediate next step? \u003cPRED\u003eA: Wipe the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe down the wrappers Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe the glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWipe the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12076082467026573077.mp4"}
+{"uid":"14048582357761786344","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a pen in pen stand 2- place brown white packet in jar 3- put the white packet in the jar 4- place blue pen in pen stand 5- place orange pen in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: 1- place a white  packet in jar 2- place blue packet in jar 3- place a white packet in jar Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pen in pen stand\n\u003c/PRED\u003e","video":"17906955118645448334.mp4"}
+{"uid":"6600978322290144237","text":"\u003ctask:success:discrete:True\u003e\nwipe off the covers from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe off the covers from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe off the covers from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush 2- wipe off the cover from table 3- wipe off the covers from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12235719408159653745.mp4"}
+{"uid":"1991052363206300407","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place brown white packet in jar 2- place blue packet in jar 3- place a white packet in jar 4- place blue pen in pen stand 5- place black pen in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown white packet in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown white packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the snacks in the jar, and the pens in the cup Q: immediate next step? \u003cPRED\u003eA: place brown white packet in jar\n\u003c/PRED\u003e","video":"7274667845594832517.mp4"}
+{"uid":"7075125612829489642","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the oatmeal packets from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"8068367023342207254.mp4"}
+{"uid":"14474554800560321838","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brush\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the brush Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12413855745962588596.mp4"}
+{"uid":"5454223706212867274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe apple with the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10340786737065160829.mp4"}
+{"uid":"3330444051511087668","text":"\u003ctask:success:discrete:True\u003e\nplace black pen in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place black pen in pen stand\n\u003c/PRED\u003e","video":"10657884781246452516.mp4"}
+{"uid":"9724080792829066866","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe off the cover from table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: immediate next step? \u003cPRED\u003eA: wipe off the cover from table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe off the cover from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor. last 20 steps: 1- pick up the brush Q: next 5 steps? \u003cPRED\u003eA: 1- wipe off the cover from table 2- wipe down the cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe off the cover from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: the desk is messy, grab a brush and sweep the trash onto the floor Q: immediate next step? \u003cPRED\u003eA: wipe off the cover from table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe off the cover from table\n\u003c/PRED\u003e","video":"8732756220921025882.mp4"}
+{"uid":"5270544766430712649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5616461879934306362.mp4"}
+{"uid":"10745928984807723557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6029147996574814507.mp4"}
+{"uid":"9966066633398875593","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the penstand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e","video":"5808880811292310410.mp4"}
+{"uid":"17011785880424769573","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon on left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon on left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8463820882934647962.mp4"}
+{"uid":"14328520856807072283","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put a knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put a knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4636417377138682692.mp4"}
+{"uid":"642609813280725714","text":"\u003ctask:success:discrete:True\u003e\nput two forks in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two forks in the left side stand\n\u003c/PRED\u003e","video":"7734122728868505703.mp4"}
+{"uid":"6010129027928961274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9264386539733462861.mp4"}
+{"uid":"9893041157920195986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouches 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":"2439776842286212869.mp4"}
+{"uid":"4369574473051162915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1041822849054407615.mp4"}
+{"uid":"8226445655057774010","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":"7490599710359442856.mp4"}
+{"uid":"8647009959288310010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2218004093157385656.mp4"}
+{"uid":"9240622513942461768","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"14225741530555668030.mp4"}
+{"uid":"3151391094098862452","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"17861312004739785195.mp4"}
+{"uid":"6165252543564389788","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a knife in the left side stand 2- put two knife in the left side stand 3- put a knife in the left side stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a fork in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a knife in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e","video":"1934180772089273958.mp4"}
+{"uid":"17461084159686855935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an orange in the right side white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6958356523856370216.mp4"}
+{"uid":"13031894528640542748","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fork in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut fork in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put fork in the penstand 2- put two knife in the left side stand 3- put a knife in the left side stand 4- done\n\u003c/PRED\u003e","video":"2880232235666929050.mp4"}
+{"uid":"7987070431148539851","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":"6647496588798792128.mp4"}
+{"uid":"11313737969532119219","text":"\u003ctask:success:discrete:False\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5745298454505805501.mp4"}
+{"uid":"5195057122075677182","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put a packet in upside of the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in upside of 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: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in upside of the drawer 2- put spoon on left side stand 3- put the spoon on left side stand 4- put the knife in the left side stand 5- put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in upside of the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in upside of the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a packet in upside of the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in upside of the drawer\n\u003c/PRED\u003e","video":"17473721058860013907.mp4"}
+{"uid":"13172646336279061788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a nut in paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8147799506893985906.mp4"}
+{"uid":"6422314524059986050","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":"11665109692218313928.mp4"}
+{"uid":"1911426545443299163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a fork in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a fork in the left side stand 2- put a knife in the left side stand 3- put two knife in the left side stand 4- put a knife in the left side stand 5- done\n\u003c/PRED\u003e","video":"8397374191619568070.mp4"}
+{"uid":"8946023967235720000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15226330999349998713.mp4"}
+{"uid":"7241829248044322621","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a fork in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18220820356859910117.mp4"}
+{"uid":"12293999715717142821","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the penstand 2- put a knife in the left side stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e","video":"16511556627787905528.mp4"}
+{"uid":"10068112601127581237","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut spoon in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut spoon in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put spoon in the penstand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a knife in the left side stand 5- put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e","video":"2991213158232470173.mp4"}
+{"uid":"6615192707785335516","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the holder 2- put a knife in the left side stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e","video":"4477747651477531037.mp4"}
+{"uid":"15024047754567184970","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8673979041735304307.mp4"}
+{"uid":"7349288098351352186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the top plant to the down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8188818752258444983.mp4"}
+{"uid":"10992816565075221332","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a fork in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9385313231001600045.mp4"}
+{"uid":"203255666419062265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1431464410976083516.mp4"}
+{"uid":"9825427943191806307","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand Q: immediate next step? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the holder 2- put two forks in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e","video":"3218918679556500517.mp4"}
+{"uid":"2139253256445671170","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put two forks in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut two forks in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 two forks in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut two forks in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put two forks in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put two forks in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put two forks in the penstand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a knife in the left side stand 5- put two knife in the left side stand\n\u003c/PRED\u003e","video":"1322849182506029703.mp4"}
+{"uid":"12170204719092645116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6943663450660382180.mp4"}
+{"uid":"1276125406897879586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop wipes packet into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6249188730771340112.mp4"}
+{"uid":"8454905011842724019","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a knife in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a knife in the left side stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e","video":"17556742074335478570.mp4"}
+{"uid":"540083864234936760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15961925715669734998.mp4"}
+{"uid":"12723657980899666498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black chip bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13373080074996405159.mp4"}
+{"uid":"6628557073348132932","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand 14- put the knife in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand 14- put the knife in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10658944136756171644.mp4"}
+{"uid":"6956710759082616274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand Q: immediate next step? \u003cPRED\u003eA: Put knife in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put knife in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put knife in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut knife in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put knife in the penstand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put knife in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut knife in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1635113186143962115.mp4"}
+{"uid":"17583976890091309601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet on 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":"17737877200590504096.mp4"}
+{"uid":"17156032067792877632","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put a fork in the left side stand 3- put a knife in the left side stand 4- put two knife in the left side stand 5- put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"16725970523526084663.mp4"}
+{"uid":"1138000882514352957","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the grapes in the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer Q: immediate next step? \u003cPRED\u003eA: put the grapes in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the grapes in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the grapes in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the grapes in the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the grapes in the rack 2- put spoon on left side stand 3- put the spoon on left side stand 4- put the knife in the left side stand 5- put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the grapes in the rack\n\u003c/PRED\u003e","video":"1397610835286127963.mp4"}
+{"uid":"12794221881263466455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a toffee in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6429141608866628105.mp4"}
+{"uid":"9761670814888019954","text":"\u003ctask:success:discrete:True\u003e\nput two knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put two knife in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut two knife in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- Put two knife in the penstand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- Put two knife in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8713599749840099945.mp4"}
+{"uid":"1010736237283477943","text":"\u003ctask:success:discrete:False\u003e\nput the spoon on left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon on left side stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon on left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon on left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: immediate next step? \u003cPRED\u003eA: put the spoon on left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the spoon on left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon on left side stand 2- put two forks in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e","video":"17497624557363454857.mp4"}
+{"uid":"7465219513331650433","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the beans packet on the tray 2- put the spoon on left side stand 3- put the knife in the left side stand 4- put two forks in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the beans packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the beans packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the beans packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the beans packet on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the beans packet on the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the beans packet on the tray\n\u003c/PRED\u003e","video":"5487839841624606798.mp4"}
+{"uid":"11451799845034412792","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":"14887543387921573107.mp4"}
+{"uid":"13758540084310994785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the hint bottle in the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6549988759537235706.mp4"}
+{"uid":"13706106692816699211","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put two fork in the penstand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut two fork in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 two fork in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put two fork in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put two fork in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put two fork in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut two fork in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16228594369490397395.mp4"}
+{"uid":"17841901039093422931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13654015026477178712.mp4"}
+{"uid":"7282857248222084021","text":"\u003ctask:success:discrete:True\u003e\nput spoon on left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon on left side stand\n\u003c/PRED\u003e","video":"12470345974733068476.mp4"}
+{"uid":"4921341093098404328","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8867183858053814443.mp4"}
+{"uid":"11001055149327639328","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put spoon on left side stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: immediate next step? \u003cPRED\u003eA: put spoon on left side stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on left side stand 2- put the knife in the left side stand 3- put two forks in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e","video":"3466046872687271525.mp4"}
+{"uid":"7632753175709010822","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put fork in the penstand 2- put a knife in the left side stand 3- put two knife in the left side stand 4- put a knife in the left side stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fork in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 fork in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e","video":"17807767102441610401.mp4"}
+{"uid":"7527979104866532713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cable 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":"15396873378923193977.mp4"}
+{"uid":"4118556436901981771","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a fork in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut fork in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 fork in the left side stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a fork in the left side stand 2- put a knife in the left side stand 3- put two knife in the left side stand 4- put a knife in the left side stand 5- done\n\u003c/PRED\u003e","video":"12889341653968092357.mp4"}
+{"uid":"13559808014945839937","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"14915174182735880083.mp4"}
+{"uid":"13630579739154295586","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11870103018169876720.mp4"}
+{"uid":"10235420531763616362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"544786827725317475.mp4"}
+{"uid":"3983649174669209326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16095659406661091276.mp4"}
+{"uid":"11161964775582363659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the grapes on upside rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the grapes on upside rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the grapes on upside rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the grapes on upside rack 2- put spoon on left side stand 3- put the spoon on left side stand 4- put the knife in the left side stand 5- put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the grapes on upside rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the grapes on upside rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the grapes on upside rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7793251975308055056.mp4"}
+{"uid":"14182738602297134623","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put the knives in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put the knives in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knives in the holder\n\u003c/PRED\u003e","video":"14927498181679358704.mp4"}
+{"uid":"15054064933774188617","text":"\u003ctask:success:discrete:True\u003e\nPut two fork in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 two fork in the penstand\n\u003c/PRED\u003e","video":"11283759564105417752.mp4"}
+{"uid":"7599488848465188793","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the knives in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knives in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the knives in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the knives in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knives in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knives in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knives in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2808753561712488008.mp4"}
+{"uid":"14015871858273122780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13998715389582968445.mp4"}
+{"uid":"7052854722995276685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2353278972846703889.mp4"}
+{"uid":"788614874781325268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi bag in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3743008321200247321.mp4"}
+{"uid":"14655969296331242850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6187268381539089056.mp4"}
+{"uid":"15603067417539335048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker 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":"9837691697136636788.mp4"}
+{"uid":"10229403649661175599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bowl into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9033477583572886937.mp4"}
+{"uid":"7213208099090041170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18005608055380547143.mp4"}
+{"uid":"57748719769312655","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut spoon in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand Q: immediate next step? \u003cPRED\u003eA: put the knife in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the knife in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the left side stand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e","video":"8048906730051952557.mp4"}
+{"uid":"15065739151922129929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12264820315080095691.mp4"}
+{"uid":"17966417397753873563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the holder 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e","video":"7079574970002932397.mp4"}
+{"uid":"17031079254798481644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put two forks in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut two forks in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15122619727384085746.mp4"}
+{"uid":"6617572474918722847","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the holder 2- put the knife in the left side stand 3- put two forks in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11247703658715610685.mp4"}
+{"uid":"11214575407033085011","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put two knife in the left side stand 3- put a knife in the left side stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"10477270300270742497.mp4"}
+{"uid":"10635450325053900","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: immediate next step? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put spoon in the penstand 2- put the knife in the left side stand 3- put two forks in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut spoon in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut spoon in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10254715576724123691.mp4"}
+{"uid":"6648346037208239220","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- put the grapes on upside rack 3- put spoon on left side stand 4- put the spoon on left side stand 5- put the knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container 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","video":"4043529990351594201.mp4"}
+{"uid":"9378679044334421628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the cup inside the green dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3887489285656866839.mp4"}
+{"uid":"17515560366099459560","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put two knife in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put two knife in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put two knife in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put two knife in the penstand 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut two knife in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 two knife in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 two knife in the penstand\n\u003c/PRED\u003e","video":"1021329907942417009.mp4"}
+{"uid":"14833050942077120103","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the holder 2- put a fork in the left side stand 3- put a knife in the left side stand 4- put two knife in the left side stand 5- put a knife in the left side stand\n\u003c/PRED\u003e","video":"7788843665885330390.mp4"}
+{"uid":"16103857551594751956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14493447137253051929.mp4"}
+{"uid":"440299142052671683","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the grapes on upside rack 3- put spoon on left side stand 4- put the spoon on left side stand 5- put the knife in the left side stand\n\u003c/PRED\u003e","video":"15288327015364181297.mp4"}
+{"uid":"6051074455849482205","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand Q: immediate next step? \u003cPRED\u003eA: put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two forks in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put two forks in the left side stand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two forks in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put two forks in the left side stand\n\u003c/PRED\u003e","video":"14448877115972814167.mp4"}
+{"uid":"9170054054474398196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the tray 2- put spoon on left side stand 3- put the spoon on left side stand 4- put the knife in the left side stand 5- put two forks in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the tray\n\u003c/PRED\u003e","video":"16449362542103511334.mp4"}
+{"uid":"2134736362779354805","text":"\u003ctask:success:discrete:True\u003e\nput a knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: immediate next step? \u003cPRED\u003eA: put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two knife in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put two knife in the left side stand 2- done\n\u003c/PRED\u003e","video":"8446425296322765691.mp4"}
+{"uid":"17158737673866727550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9475234566947526085.mp4"}
+{"uid":"15068900315526815398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee on the table from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16595216100424915857.mp4"}
+{"uid":"12013475360904078646","text":"\u003ctask:success:discrete:True\u003e\nput the knife in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the left side stand\n\u003c/PRED\u003e","video":"11100206765096979660.mp4"}
+{"uid":"16057897352859838645","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand 14- Put the knife in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand 10- put a fork in the left side stand 11- put a fork in the left side stand 12- put a knife in the left side stand 13- put two knife in the left side stand 14- Put the knife in the penstand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the knife in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the knife in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8895985439042487265.mp4"}
+{"uid":"921466953564257870","text":"\u003ctask:success:discrete:False\u003e\nPut knife in penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: immediate next step? \u003cPRED\u003eA: Put knife in penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put knife in penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack Q: next 5 steps? \u003cPRED\u003eA: 1- Put knife in penstand 2- put the knife in the left side stand 3- put two forks in the left side stand 4- put a fork in the left side stand 5- put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut knife in penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knife in penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put knife in penstand\n\u003c/PRED\u003e","video":"14649090805288640123.mp4"}
+{"uid":"7887231453409086356","text":"\u003ctask:success:discrete:False\u003e\nPut fork in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put fork in the penstand 2- put a fork in the left side stand 3- put a knife in the left side stand 4- put two knife in the left side stand 5- put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put fork in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut fork in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8038659565344583857.mp4"}
+{"uid":"16458070909577687562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13883293982290163484.mp4"}
+{"uid":"3056580340560200646","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a fork in the left side stand 2- put a fork in the left side stand 3- put a knife in the left side stand 4- put two knife in the left side stand 5- put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a fork in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e","video":"9183588182678159953.mp4"}
+{"uid":"9970367439136403722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper 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":"12204218495876972126.mp4"}
+{"uid":"9046294824304565276","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"7700196556437668114.mp4"}
+{"uid":"9561112094837464090","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a fork in the left side stand 2- put a fork in the left side stand 3- put a fork in the left side stand 4- put a knife in the left side stand 5- put two knife in the left side stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand Q: immediate next step? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a fork in the left side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a fork in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e","video":"6942334516907538890.mp4"}
+{"uid":"12012726518569467710","text":"\u003ctask:success:discrete:False\u003e\nPut spoon in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: immediate next step? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut spoon in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cabinate and put the utensils in the container. last 20 steps: 1- open the drawer 2- put a packet in upside of the drawer 3- put the grapes on upside rack 4- put spoon on left side stand 5- put the spoon on left side stand 6- put the knife in the left side stand 7- put two forks in the left side stand 8- put a fork in the left side stand 9- put a fork in the left side stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put spoon in the penstand 2- put a fork in the left side stand 3- put a knife in the left side stand 4- put two knife in the left side stand 5- put a knife in the left side stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cabinate and put the utensils in the container Q: immediate next step? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put spoon in the penstand\n\u003c/PRED\u003e","video":"1460835695134450216.mp4"}
+{"uid":"8182659585020073682","text":"\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"6973917068331970817.mp4"}
+{"uid":"15066838940735751099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"8734001143512858952.mp4"}
+{"uid":"15873306522698534399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"815755684958551277.mp4"}
+{"uid":"2939571357610612929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11323870922283057480.mp4"}
+{"uid":"11743500013062094025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17089887657872537382.mp4"}
+{"uid":"16396972690655783552","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a fork in the left side stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a fork in the left side stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6298614880748492318.mp4"}
+{"uid":"3957954769012781877","text":"\u003ctask:success:discrete:False\u003e\nPlace the sticky note in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky note in the shelf 2- Move your arm close to the orange object 3- Pick up the orange object 4- Move close to the shelf 5- Attached the orange on the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky note in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: immediate next step? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e","video":"5662043943635222105.mp4"}
+{"uid":"6682959827850826576","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down Q: next 5 steps? \u003cPRED\u003eA: 1- move the fish on a table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: move the fish on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the fish on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the fish on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the fish on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 fish on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down Q: immediate next step? \u003cPRED\u003eA: move the fish on a table\n\u003c/PRED\u003e","video":"15961211512361023169.mp4"}
+{"uid":"18243787000127455477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the green marker from the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8451522348182761529.mp4"}
+{"uid":"6438918857268598732","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16888054524558000134.mp4"}
+{"uid":"7095781992354499383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3041294677256681112.mp4"}
+{"uid":"15139096421170624837","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue box 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e","video":"4182931271448936716.mp4"}
+{"uid":"11054873030671989328","text":"\u003ctask:success:discrete:False\u003e\nMove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note Q: immediate next step? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the cupboard 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e","video":"12332925346472605164.mp4"}
+{"uid":"12961851336309957089","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the blue box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the blue 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":"6166040841531125833.mp4"}
+{"uid":"7740313792819149828","text":"\u003ctask:success:discrete:False\u003e\nmove away from the rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: move away from the rack.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move away from the rack.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the rack. 2- Pick up the orange object 3- Move close to the shelf 4- Attached the orange on the cupboard door 5- Move backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the rack.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the rack. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the rack.\n\u003c/PRED\u003e","video":"440718213014727414.mp4"}
+{"uid":"13013020564601772603","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the shelf 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e","video":"8557539745654163688.mp4"}
+{"uid":"14553954386575313773","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Move backward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Move backward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6732419084477017624.mp4"}
+{"uid":"4153451841275252579","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lay down the basket on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- lay down the basket on table 2- Drag the fish out of the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlay down the basket 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: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: lay down the basket on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lay down the basket on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlay down the basket on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table Q: immediate next step? \u003cPRED\u003eA: lay down the basket on table\n\u003c/PRED\u003e","video":"7871896266180643680.mp4"}
+{"uid":"2696216800424690718","text":"\u003ctask:success:discrete:False\u003e\nMove your arm close to the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the orange object 2- Move close to the shelf 3- Attached the orange on the cupboard door 4- Move backward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the orange object\n\u003c/PRED\u003e","video":"8884839457187160431.mp4"}
+{"uid":"8982595038107977092","text":"\u003ctask:success:discrete:False\u003e\nmove your arm close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cupboard 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5860732476044232931.mp4"}
+{"uid":"13100839171444793564","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":"1666575781752669347.mp4"}
+{"uid":"13078493487698322520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the brown 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":"6892376188714695553.mp4"}
+{"uid":"6645939058142083009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10829987244214667033.mp4"}
+{"uid":"13900848417760653282","text":"\u003ctask:success:discrete:True\u003e\npush the sticky notes off the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the sticky notes off the table.\n\u003c/PRED\u003e","video":"8011076882299151508.mp4"}
+{"uid":"11687422200188637635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove empty plastic to the 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":"2634568860956613318.mp4"}
+{"uid":"7007058343997822264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate 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":"4438997658260533555.mp4"}
+{"uid":"10409645985971301873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the blue box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the blue box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: lift the blue box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the blue box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down Q: immediate next step? \u003cPRED\u003eA: lift the blue box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- lift the blue box. 2- Slightly move forward 3- Place the blue object in the shelf 4- Move to the right 5- Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the blue box.\n\u003c/PRED\u003e","video":"8527568546868454853.mp4"}
+{"uid":"12227388170993039595","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7081205199527587103.mp4"}
+{"uid":"1259968530775232224","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo closer to the left sticky notes row in the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12154203620984002839.mp4"}
+{"uid":"16688096334981430047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace brown chip packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12519353455781607618.mp4"}
+{"uid":"4503944923926803365","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the rack 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move away from the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: move away from the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the rack\n\u003c/PRED\u003e","video":"1076240352299117.mp4"}
+{"uid":"10753271378913027334","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e","video":"12712242639839966803.mp4"}
+{"uid":"10714129696967507337","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm close to the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18105434589932807850.mp4"}
+{"uid":"6355060522933657028","text":"\u003ctask:success:discrete:True\u003e\ngo closer to the sticky notes on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the sticky notes on the floor.\n\u003c/PRED\u003e","video":"13579705221557365972.mp4"}
+{"uid":"17054194996322609312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7151254692891543544.mp4"}
+{"uid":"9221161642677560949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the sticky notes from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17433139121359895801.mp4"}
+{"uid":"3823841871545885500","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the sticky notes from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15464548198668520664.mp4"}
+{"uid":"15391138487659531238","text":"\u003ctask:success:discrete:False\u003e\nMove close to the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the sticky note 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6049185157770434299.mp4"}
+{"uid":"17282472358554283273","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: immediate next step? \u003cPRED\u003eA: Go to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Go to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the cupboard 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13393158356594327750.mp4"}
+{"uid":"9932363543990946131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door 19- Slightly move your arm back Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door 19- Slightly move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14877303062512639508.mp4"}
+{"uid":"6877392572405730108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"581410943351533771.mp4"}
+{"uid":"5227260157637417175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4021946750837315098.mp4"}
+{"uid":"15689328547640201433","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: Place the blue box in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue box in the shelf 2- Move to the right 3- Move close to the sticky note 4- Slightly move to the back 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue box in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue box in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the blue box in the shelf\n\u003c/PRED\u003e","video":"3566723787106249159.mp4"}
+{"uid":"2669957249884537458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the instant oatmeal pack 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":"586460166454132782.mp4"}
+{"uid":"5700597120534590886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2651922492532930020.mp4"}
+{"uid":"294866153829647137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple 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":"2207979513246192767.mp4"}
+{"uid":"7261412098938771052","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Push the sticky notes off the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the sticky notes off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the sticky notes off the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the sticky notes off the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the sticky notes off the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Push the sticky notes off the table 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: immediate next step? \u003cPRED\u003eA: Push the sticky notes off the table\n\u003c/PRED\u003e","video":"10891169891705359965.mp4"}
+{"uid":"14631632084524504890","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: immediate next step? \u003cPRED\u003eA: Move the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move the sticky notes 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6623238106385280745.mp4"}
+{"uid":"12289017385777608045","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the cupboard 2- Place the sticky note in the shelf 3- Adjust the sticky note in the shelf 4- Move your arm close to the orange object 5- Pick up the orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note Q: immediate next step? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e","video":"17384636649006801618.mp4"}
+{"uid":"16322199030117125822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2752966261604640025.mp4"}
+{"uid":"17293877275776406548","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the box front side down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the box front side down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"155479821750888633.mp4"}
+{"uid":"9211831911284051417","text":"\u003ctask:success:discrete:False\u003e\nput the lid of the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 table top bin's lid and take out fish and place on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the lid of the box on the table 2- put the box front side down 3- Drag the fish out of the box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: put the lid of the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lid of the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 lid of the box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the lid of the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lid of the box on the table\n\u003c/PRED\u003e","video":"16083815609106022246.mp4"}
+{"uid":"17924128365687601949","text":"\u003ctask:success:discrete:False\u003e\nMove your arm close the blue 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: Move your arm close the blue box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move your arm close the blue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close the blue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm close the blue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close the blue box 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close the blue box\n\u003c/PRED\u003e","video":"10837220366303283691.mp4"}
+{"uid":"12593637530820590953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a paper cup on another paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1186272098648690064.mp4"}
+{"uid":"13486733868058999114","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the blue box. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the blue box.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the blue box. 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the blue box.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the blue box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: grab the blue box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the blue box.\n\u003c/PRED\u003e","video":"8801690042547938034.mp4"}
+{"uid":"15826084677676566141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5064092533489483270.mp4"}
+{"uid":"13563179459184340089","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky notes on the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes on the sticky notes\n\u003c/PRED\u003e","video":"6780841944746200749.mp4"}
+{"uid":"685755288300793806","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Move backward 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: Move backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"729493879087029188.mp4"}
+{"uid":"14608465215031349799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue object in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue object in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue object in the shelf\n\u003c/PRED\u003e","video":"1487027024837113185.mp4"}
+{"uid":"8667770054260155120","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: immediate next step? \u003cPRED\u003eA: pick up the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange object 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pick up the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange object\n\u003c/PRED\u003e","video":"1757763972223208597.mp4"}
+{"uid":"7796536645583415953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo close to the green highlighter which is 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":"2227977932437746573.mp4"}
+{"uid":"251179110542292973","text":"\u003ctask:success:discrete:True\u003e\nmove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e","video":"13068510946995072234.mp4"}
+{"uid":"11751585704578968545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3796278199839919086.mp4"}
+{"uid":"15637079003363755767","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":"13557856359436358675.mp4"}
+{"uid":"232535685861869678","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the cupboard 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the cupboard\n\u003c/PRED\u003e","video":"18336043876711704651.mp4"}
+{"uid":"14550191815820510164","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15828224158569739581.mp4"}
+{"uid":"1762473933214129582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the rold gold 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":"17447111104698848638.mp4"}
+{"uid":"12187538754078044250","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm up 2- Slightly move forward 3- Place the blue object in the shelf 4- Move to the right 5- Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the shelf 2- Place the blue object in the shelf 3- Move to the right 4- Move close to the sticky note 5- Slightly move to the back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e","video":"2036600744327346399.mp4"}
+{"uid":"8596380846863029170","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStick the orange object to the cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStick the orange object to the cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Stick the orange object to the cupboard door 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: immediate next step? \u003cPRED\u003eA: Stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stick the orange object to the cupboard door\n\u003c/PRED\u003e","video":"16242478549189232674.mp4"}
+{"uid":"7111163592443429222","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18344987037720274519.mp4"}
+{"uid":"9628106269153351814","text":"\u003ctask:success:discrete:False\u003e\nmove away from the orange box. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the orange box. 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door Q: immediate next step? \u003cPRED\u003eA: move away from the orange box.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the orange box.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the orange 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: move away from the orange box.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move away from the orange box.\n\u003c/PRED\u003e","video":"13293940719649685418.mp4"}
+{"uid":"14050650689145198577","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange object 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e","video":"379474339079544297.mp4"}
+{"uid":"15566522828087238590","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drag the fish out of the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrag the fish out of the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down 3- Drag the fish out of the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down 3- Drag the fish out of the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14164642782596091822.mp4"}
+{"uid":"205943540815579278","text":"\u003ctask:success:discrete:True\u003e\nMove to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e","video":"9412359211530365342.mp4"}
+{"uid":"3239098617646138370","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue box on other blue boxes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the blue box on other blue boxes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: Place the blue box on other blue boxes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue box on other blue boxes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue box on other blue boxes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue box on other blue boxes 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue box on other blue boxes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17775875251439536888.mp4"}
+{"uid":"5551565505524200795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12273082829955522322.mp4"}
+{"uid":"16098639657404469192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange candy 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":"7498387323305489622.mp4"}
+{"uid":"16238547361043781804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes  in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15261592794843159762.mp4"}
+{"uid":"7707615857639577373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18047695716703234206.mp4"}
+{"uid":"9338732910418305509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sticky note in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7728380413686403094.mp4"}
+{"uid":"818194385819806111","text":"\u003ctask:success:discrete:True\u003e\nAttached the orange on the cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Attached the orange on the cupboard door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Attached the orange on the cupboard door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Attached the orange on the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7399770954577451406.mp4"}
+{"uid":"5168298690385372427","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstick the orange object to the cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstick the orange object to the cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- stick the orange object to the cupboard door 2- done\n\u003c/PRED\u003e","video":"14246454389991564958.mp4"}
+{"uid":"9930944052033788193","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Move your arm close the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close the sticky note 2- Lift up the sticky note 3- Move close to the shelf 4- go closer to the left sticky notes row in the top rack. 5- Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm close the sticky note\n\u003c/PRED\u003e","video":"11309999298675475412.mp4"}
+{"uid":"780421354620585206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3699094737421241239.mp4"}
+{"uid":"6170708026571952539","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: immediate next step? \u003cPRED\u003eA: Pick the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the sticky note 2- Move close to the shelf 3- go closer to the left sticky notes row in the top rack. 4- Place the sticky note in the shelf 5- Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the sticky note\n\u003c/PRED\u003e","video":"14076300549339824283.mp4"}
+{"uid":"15026620298522947797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the napkin box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3912949176293956992.mp4"}
+{"uid":"12456876208626746889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4848699133528535230.mp4"}
+{"uid":"11926192895892086881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12323634377031905999.mp4"}
+{"uid":"5971989472542922553","text":"\u003ctask:success:discrete:False\u003e\nMove your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm down 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e","video":"7918468391563386489.mp4"}
+{"uid":"6047802046524402952","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the blue 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":"270722701734628857.mp4"}
+{"uid":"7545913430025530433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4504569624877473180.mp4"}
+{"uid":"7938538619365363250","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: immediate next step? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky note in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky note in the shelf 2- Move your arm close to the orange object 3- Pick up the orange object 4- Move close to the shelf 5- Attached the orange on the cupboard door\n\u003c/PRED\u003e","video":"1153124527235450462.mp4"}
+{"uid":"8694569017123706049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15967163214370575541.mp4"}
+{"uid":"12086095334182446616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4122975752664566024.mp4"}
+{"uid":"13435060356862438646","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the cupboard 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: immediate next step? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e","video":"17329153918095418078.mp4"}
+{"uid":"6896793411227917693","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the cupboard\n\u003c/PRED\u003e","video":"1068351853003087073.mp4"}
+{"uid":"5258001329094639940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the black cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6699255118021639789.mp4"}
+{"uid":"5768241417962125848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5913136281022705389.mp4"}
+{"uid":"4717607859644738027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17141688013579216409.mp4"}
+{"uid":"4993026042613001831","text":"\u003ctask:success:discrete:False\u003e\nPick up the orange box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange box from the table 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the orange box from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange box from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: immediate next step? \u003cPRED\u003eA: Pick up the orange box from the table\n\u003c/PRED\u003e","video":"6253649495356738250.mp4"}
+{"uid":"4930250256709954601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo towards the compostable 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":"11781260267347558540.mp4"}
+{"uid":"6260419560995664913","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the sticky notes 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":"731209671327864518.mp4"}
+{"uid":"15150617073266710583","text":"\u003ctask:success:discrete:True\u003e\nput the lid of the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lid of the box on the table\n\u003c/PRED\u003e","video":"1193355740257577758.mp4"}
+{"uid":"9311478402864484524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the blue box in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward Q: immediate next step? \u003cPRED\u003eA: Adjust the blue box in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the blue box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the blue box in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the blue box in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the blue box in the shelf 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Adjust the blue box in the shelf\n\u003c/PRED\u003e","video":"6666940340371479825.mp4"}
+{"uid":"12829099945730000215","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the box front side down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the box front side down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table Q: immediate next step? \u003cPRED\u003eA: put the box front side down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the box front side down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: put the box front side down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the box front side down 2- Drag the fish out of the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the box front side down\n\u003c/PRED\u003e","video":"16738662475063144279.mp4"}
+{"uid":"12439585717713241886","text":"\u003ctask:success:discrete:True\u003e\nMove towards the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cabinet\n\u003c/PRED\u003e","video":"9590715892366788363.mp4"}
+{"uid":"15929487095951140421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11810344719177593697.mp4"}
+{"uid":"13175515912266122724","text":"\u003ctask:success:discrete:True\u003e\nMove the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the sticky notes\n\u003c/PRED\u003e","video":"5650810548426077610.mp4"}
+{"uid":"12099493654476568954","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move forward 2- Move to the right 3- Move close to the sticky note 4- Slightly move to the back 5- Grab the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e","video":"16401747211917752091.mp4"}
+{"uid":"4860419102307756909","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15599664961725632105.mp4"}
+{"uid":"13024300752708251596","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on a table\n\u003c/PRED\u003e","video":"5316978416498330136.mp4"}
+{"uid":"9380874601147798827","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7858993396230155263.mp4"}
+{"uid":"9089750272739913984","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange object 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e","video":"14523820329356336821.mp4"}
+{"uid":"8016715991492329163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate 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":"2409452172713080392.mp4"}
+{"uid":"8157151300267681173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scissors in the first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5954673732087574163.mp4"}
+{"uid":"5486602084825131061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in big 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":"10277529746760108757.mp4"}
+{"uid":"16338090733446094187","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the top rack. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: immediate next step? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the top rack. 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e","video":"5001432308453651109.mp4"}
+{"uid":"17890423885371146510","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the sticky notes 2- Move your arm close to the orange object 3- Pick up the orange object 4- Move close to the shelf 5- Attached the orange on the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes on the sticky notes\n\u003c/PRED\u003e","video":"15375754653445606928.mp4"}
+{"uid":"2607788421077335675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop paper into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13607752861414172108.mp4"}
+{"uid":"8802891191994873121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull 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":"12292632133784952005.mp4"}
+{"uid":"2244721702008497168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink marker in the pink marker 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":"9412636742166249192.mp4"}
+{"uid":"11881062898928782027","text":"\u003ctask:success:discrete:True\u003e\nMove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e","video":"959843059297074845.mp4"}
+{"uid":"4693437632035030938","text":"\u003ctask:success:discrete:True\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e","video":"17014712482494657694.mp4"}
+{"uid":"10285855149059395910","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm close to the blue object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the blue object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm close to the blue object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the blue object 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9652387511779089881.mp4"}
+{"uid":"5518314267626898501","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":"18358922126477101844.mp4"}
+{"uid":"1939578348767938724","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the orange object 2- Slightly move to the back 3- Grab the sticky note 4- Lift up the sticky note 5- Move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3006963420797528883.mp4"}
+{"uid":"6070808646322979540","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cupboard 2- Move backward 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cupboard\n\u003c/PRED\u003e","video":"13085419321511790786.mp4"}
+{"uid":"2035023049886926939","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14001309120425258966.mp4"}
+{"uid":"13502286885200709035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"749782819098115208.mp4"}
+{"uid":"11813323542602520695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6550539324055005148.mp4"}
+{"uid":"9407098705979082098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the right black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18168251635036677873.mp4"}
+{"uid":"12439972140413804538","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: immediate next step? \u003cPRED\u003eA: Slightly move to the back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Slightly move to the back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the back 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e","video":"17436436828953526323.mp4"}
+{"uid":"16614506133460844162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace coke can in fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15956803072475714792.mp4"}
+{"uid":"15578768901921363600","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":"2534248642495550594.mp4"}
+{"uid":"4751808433260895545","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue box on other blue boxes\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue box on other blue boxes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7384155834646489718.mp4"}
+{"uid":"5484300995668199420","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: go closer to the sticky notes on the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: immediate next step? \u003cPRED\u003eA: go closer to the sticky notes on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the sticky notes on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the sticky notes on the floor. 2- Lift up the sticky note 3- Move close to the shelf 4- go closer to the left sticky notes row in the top rack. 5- Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the sticky notes on the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the sticky notes on the floor.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the sticky notes on the floor.\n\u003c/PRED\u003e","video":"8373563872666709853.mp4"}
+{"uid":"11549609808858290754","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the cupboard 2- Place the blue object in the shelf 3- Move to the right 4- Move close to the sticky note 5- Slightly move to the back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the cupboard\n\u003c/PRED\u003e","video":"610354409323169544.mp4"}
+{"uid":"920375481748012683","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pick up the orange box from the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange box from the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: immediate next step? \u003cPRED\u003eA: pick up the orange box from the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange box from the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange box from the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange box from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange box from the table. 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e","video":"5001259185599628818.mp4"}
+{"uid":"16523365366211734814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"15673528914266619180.mp4"}
+{"uid":"6443022295524998733","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the sticky note in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the sticky note in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: immediate next step? \u003cPRED\u003eA: Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the sticky note in the shelf 2- Pick up the orange object 3- Move close to the shelf 4- Attached the orange on the cupboard door 5- Move backward\n\u003c/PRED\u003e","video":"14078985181747873523.mp4"}
+{"uid":"15604352676121280140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13893338672309400748.mp4"}
+{"uid":"15521809041590473010","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky notes on the top of another sticky note in the left sticky notes 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 sticky notes on the top of another sticky note in the left sticky notes row\n\u003c/PRED\u003e","video":"9936668630955945003.mp4"}
+{"uid":"11057045475600999624","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange object 2- Move close to the shelf 3- Attached the orange on the cupboard door 4- Move backward 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e","video":"11866529173612286231.mp4"}
+{"uid":"9736472624499418510","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"13904345925585148476.mp4"}
+{"uid":"509280725623146408","text":"\u003ctask:success:discrete:True\u003e\npick the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue object\n\u003c/PRED\u003e","video":"2152673080562469899.mp4"}
+{"uid":"2402174163916293669","text":"\u003ctask:success:discrete:True\u003e\ngrab the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e","video":"15444024776182144945.mp4"}
+{"uid":"3124028398136122734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14238559475984786908.mp4"}
+{"uid":"15072839121095646321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClean the table with the wipe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17927810739479606441.mp4"}
+{"uid":"10645315591291566274","text":"\u003ctask:success:discrete:True\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e","video":"7740850608017608713.mp4"}
+{"uid":"12894290339200906328","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the cupboard 2- Place the blue object in the shelf 3- Move to the right 4- Move close to the sticky note 5- Slightly move to the back\n\u003c/PRED\u003e","video":"11167560044482586971.mp4"}
+{"uid":"2755943930463561604","text":"\u003ctask:success:discrete:True\u003e\nmove towards the sticky notes on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the sticky notes on the table.\n\u003c/PRED\u003e","video":"2217569142181887031.mp4"}
+{"uid":"14957310092077932990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: Place lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place lid on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place lid on the table 2- Drag the fish out of the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15912357675889942887.mp4"}
+{"uid":"5004617991637323139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3029884571077914812.mp4"}
+{"uid":"1436110706145896407","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move towards the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the sticky notes on the table 2- Slightly move to the back 3- Grab the sticky note 4- Lift up the sticky note 5- Move close to the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: Move towards the sticky notes on the table\n\u003c/PRED\u003e","video":"2310591658515612828.mp4"}
+{"uid":"2915063223029616935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"15561716242428195974.mp4"}
+{"uid":"13999918549331707178","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e","video":"6586483299650560589.mp4"}
+{"uid":"12116645364808064870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6456881725303167865.mp4"}
+{"uid":"11591445993756695239","text":"\u003ctask:success:discrete:True\u003e\nmove towards the orange box on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the orange box on the table.\n\u003c/PRED\u003e","video":"10970988990974435498.mp4"}
+{"uid":"9815444613550003046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13198024022693530149.mp4"}
+{"uid":"15560958753088785015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16592698338629082934.mp4"}
+{"uid":"3769962694688187934","text":"\u003ctask:success:discrete:True\u003e\nPick up the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e","video":"8724085367224070349.mp4"}
+{"uid":"5725468278473684979","text":"\u003ctask:success:discrete:False\u003e\nPlace the sticky notes on other sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes on other sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes on other sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes on other sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes on other sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes on other sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes on other sticky notes 2- Move your arm close to the orange object 3- Pick up the orange object 4- Move close to the shelf 5- Attached the orange on the cupboard door\n\u003c/PRED\u003e","video":"5884325628797993460.mp4"}
+{"uid":"8817304047842216754","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue box above another blue box in the top rack.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue box above another blue box in the top rack.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward Q: immediate next step? \u003cPRED\u003eA: place the blue box above another blue box in the top rack.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue box above another blue box in the top rack. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the blue box above another blue box in the top rack.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue box above another blue box in the top rack. 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue box above another blue box in the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8360328049512613112.mp4"}
+{"uid":"16131799169940851864","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1282701979849814732.mp4"}
+{"uid":"2778045553733545699","text":"\u003ctask:success:discrete:True\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e","video":"12779598183221334185.mp4"}
+{"uid":"16900144778135599661","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrag the fish out of the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrag the fish out of the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down Q: next 5 steps? \u003cPRED\u003eA: 1- Drag the fish out of the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down Q: immediate next step? \u003cPRED\u003eA: Drag the fish out of the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: Drag the fish out of the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drag the fish out of the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drag the fish out of the box\n\u003c/PRED\u003e","video":"10174599524051212106.mp4"}
+{"uid":"229898195474571345","text":"\u003ctask:success:discrete:True\u003e\nSlightly move to the back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the back\n\u003c/PRED\u003e","video":"3367368722794681487.mp4"}
+{"uid":"11919927299733668182","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6468202708128572263.mp4"}
+{"uid":"8166025598345253843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3308365635765292707.mp4"}
+{"uid":"4469869746048745574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"12938525231993504321.mp4"}
+{"uid":"5898836077323655700","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the left sticky notes row in the top rack. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the left sticky notes row in the top rack. 2- Place the sticky note in the shelf 3- Adjust the sticky note in the shelf 4- Move your arm close to the orange object 5- Pick up the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the left sticky notes row in the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e","video":"8005624304722583539.mp4"}
+{"uid":"6883512546474611208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1239035302299666521.mp4"}
+{"uid":"13535231261208056715","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":"16031533260695922873.mp4"}
+{"uid":"18152586751278515672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace theblack pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6284136734612148298.mp4"}
+{"uid":"11929792411547064679","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16320633380082676627.mp4"}
+{"uid":"9196977449412077374","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the top of another sticky note in the left sticky notes row\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on the top of another sticky note in the left sticky notes 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the top of another sticky note in the left sticky notes row\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on the top of another sticky note in the left sticky notes row\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on the top of another sticky note in the left sticky notes 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 sticky notes on the top of another sticky note in the left sticky notes row\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the top of another sticky note in the left sticky notes row 2- Move your arm close to the orange object 3- Pick up the orange object 4- Move close to the shelf 5- Attached the orange on the cupboard door\n\u003c/PRED\u003e","video":"15099853235178091481.mp4"}
+{"uid":"11899074627968669037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glasses on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12181348525417619051.mp4"}
+{"uid":"12816336077332625183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup into the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4126310637579998017.mp4"}
+{"uid":"1000431266574156898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11648644823181677080.mp4"}
+{"uid":"12510638748486161864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6403806124783465217.mp4"}
+{"uid":"4685475152876246162","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: immediate next step? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the sticky note 2- Move close to the shelf 3- go closer to the left sticky notes row in the top rack. 4- Place the sticky note in the shelf 5- Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17472279027845035253.mp4"}
+{"uid":"2270102702956845847","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm close to the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the sticky note 2- Slightly move to the back 3- Grab the sticky note 4- Lift up the sticky note 5- Move close to the shelf\n\u003c/PRED\u003e","video":"11954176974114864495.mp4"}
+{"uid":"9999964958549131594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the blue box.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift the blue 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":"14595518974406785412.mp4"}
+{"uid":"1321970392938720680","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move towards the orange box on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the orange box on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: move towards the orange box on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the orange box on the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the orange box on the table. 2- Move close to the shelf 3- Attached the orange on the cupboard door 4- Move backward 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the orange box on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the orange box on the table.\n\u003c/PRED\u003e","video":"8837017133740973982.mp4"}
+{"uid":"6056679948771353070","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the sticky notes on the table. 2- Slightly move to the back 3- Grab the sticky note 4- Lift up the sticky note 5- Move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the sticky notes on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the sticky notes on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the sticky notes on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move towards the sticky notes on the table.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the sticky notes on the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: move towards the sticky notes on the table.\n\u003c/PRED\u003e","video":"9809414418423095003.mp4"}
+{"uid":"15705589848969286723","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky notes from the floor 2- Move close to the shelf 3- go closer to the left sticky notes row in the top rack. 4- Place the sticky note in the shelf 5- Adjust the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky notes from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: immediate next step? \u003cPRED\u003eA: pick the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky notes from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky notes from the floor\n\u003c/PRED\u003e","video":"15085334891625708225.mp4"}
+{"uid":"6595869110924535838","text":"\u003ctask:success:discrete:False\u003e\nLift up the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the sticky note 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: immediate next step? \u003cPRED\u003eA: Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the sticky note\n\u003c/PRED\u003e","video":"10149005099359331564.mp4"}
+{"uid":"1095849341920313428","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: Place fish on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place fish on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace fish on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down Q: next 5 steps? \u003cPRED\u003eA: 1- Place fish on table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace fish on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: 1- put the lid of the box on the table 2- put the box front side down Q: immediate next step? \u003cPRED\u003eA: Place fish on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place fish on table\n\u003c/PRED\u003e","video":"15763260893906304203.mp4"}
+{"uid":"15971638160157406170","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the blue object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the blue object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pick the blue object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue object 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue object 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the blue object\n\u003c/PRED\u003e","video":"10077543544798229038.mp4"}
+{"uid":"18302600433536152843","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right 2- Slightly move to the back 3- Grab the sticky note 4- Lift up the sticky note 5- Move close to the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e","video":"9833270358235422488.mp4"}
+{"uid":"5645265682563017917","text":"\u003ctask:success:discrete:True\u003e\nPush the sticky notes off the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the sticky notes off the table\n\u003c/PRED\u003e","video":"10367077074092033349.mp4"}
+{"uid":"18200565534345029123","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":"5487989529418543257.mp4"}
+{"uid":"17649744034991312239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food 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":"13324525201123090041.mp4"}
+{"uid":"8087219839112476784","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Grasp the blue box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the blue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the blue box 2- Move close to the shelf 3- Slightly move forward 4- Place the blue object in the shelf 5- Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the blue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grasp the blue box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the blue box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the blue 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":"14032811339638052287.mp4"}
+{"uid":"13690446681680435115","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue object in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue object in the shelf 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue object in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: Place the blue object in the shelf\n\u003c/PRED\u003e","video":"7474262396731245959.mp4"}
+{"uid":"9843278893028450196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstick the orange box on the inside of the right rack door. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- stick the orange box on the inside of the right rack door. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stick the orange box on the inside of the right rack door.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- stick the orange box on the inside of the right rack door. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12101007639278371687.mp4"}
+{"uid":"5155218694576185322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14136512255590577294.mp4"}
+{"uid":"962928553100302632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the illy packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13613979530357177076.mp4"}
+{"uid":"13747903767085967426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8357561182200802781.mp4"}
+{"uid":"13058087770038636198","text":"\u003ctask:success:discrete:True\u003e\npick up the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e","video":"12762525036346185254.mp4"}
+{"uid":"4090708971500914677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6263061361410485049.mp4"}
+{"uid":"9361338664027806342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"2761395396932446450.mp4"}
+{"uid":"12771694288108144418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper in a 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":"4021833421170696112.mp4"}
+{"uid":"8657927950037359490","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down Q: immediate next step? \u003cPRED\u003eA: Pick up the blue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue box 2- Slightly move forward 3- Place the blue object in the shelf 4- Move to the right 5- Move close to the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue 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":"16836471677327374207.mp4"}
+{"uid":"4962808513977188289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"8723837446559656970.mp4"}
+{"uid":"10375596265321065332","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the top rack. 2- Place the blue object in the shelf 3- Move to the right 4- Move close to the sticky note 5- Slightly move to the back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the top rack. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e","video":"2671761425092476421.mp4"}
+{"uid":"6901840717065240981","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move towards the orange box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the orange box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the orange box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the orange box on the table 2- Move close to the shelf 3- Attached the orange on the cupboard door 4- Move backward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: Move towards the orange box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the orange box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the orange box on the table\n\u003c/PRED\u003e","video":"4628776696828690610.mp4"}
+{"uid":"17265329821408450430","text":"\u003ctask:success:discrete:True\u003e\nmove towards the right rack door. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the right rack door.\n\u003c/PRED\u003e","video":"2057043145444799172.mp4"}
+{"uid":"18204038478049687672","text":"\u003ctask:success:discrete:True\u003e\nPick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the sticky note\n\u003c/PRED\u003e","video":"9549031466814610340.mp4"}
+{"uid":"13915661378033816718","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue box above another blue box in the top rack.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue box above another blue box in the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8259253242289232496.mp4"}
+{"uid":"16402823871847240425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2033040142609870201.mp4"}
+{"uid":"5444398591616881029","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close the sticky note\n\u003c/PRED\u003e","video":"5526258695963891394.mp4"}
+{"uid":"4656844017495631319","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note Q: immediate next step? \u003cPRED\u003eA: Move towards the cupboard on the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cupboard on the left 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cupboard on the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cupboard on the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move towards the cupboard on the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cupboard on the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the cupboard on the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7626876706850999689.mp4"}
+{"uid":"1728225742943582249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull 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":"16172155732531638849.mp4"}
+{"uid":"15486114669389274302","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4227416537721772410.mp4"}
+{"uid":"10198996930597464114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"17037838323800834330.mp4"}
+{"uid":"8390384072308629309","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue object in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue object in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue object in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue object in the shelf 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e","video":"9611029420556467412.mp4"}
+{"uid":"13582819943515311870","text":"\u003ctask:success:discrete:True\u003e\nMove down to the sticky notes on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move down to the sticky notes on the floor\n\u003c/PRED\u003e","video":"6874065399579568285.mp4"}
+{"uid":"5557608992907442548","text":"\u003ctask:success:discrete:False\u003e\nAttached the orange on the cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Attached the orange on the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Attached the orange on the cupboard door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Attached the orange on the cupboard door 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: immediate next step? \u003cPRED\u003eA: Attached the orange on the cupboard door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAttached the orange on the cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Attached the orange on the cupboard door\n\u003c/PRED\u003e","video":"6246624998722835084.mp4"}
+{"uid":"8929951119237748455","text":"\u003ctask:success:discrete:True\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e","video":"7039179771570824648.mp4"}
+{"uid":"8398877099048174428","text":"\u003ctask:success:discrete:False\u003e\npush the sticky notes off the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the sticky notes off the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the sticky notes off the table.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- push the sticky notes off the table. 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: immediate next step? \u003cPRED\u003eA: push the sticky notes off the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the sticky notes off the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: push the sticky notes off the table.\n\u003c/PRED\u003e","video":"4020254318084336076.mp4"}
+{"uid":"12385744286929605052","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the right rack door. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the right rack door. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move towards the right rack door.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the right rack door. 2- Attached the orange on the cupboard door 3- Move backward 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the right rack door.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object Q: immediate next step? \u003cPRED\u003eA: move towards the right rack door.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the right rack door.\n\u003c/PRED\u003e","video":"3069645898261840325.mp4"}
+{"uid":"10871223062255077654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12013621099572241414.mp4"}
+{"uid":"2196156200338330762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15938691585385785648.mp4"}
+{"uid":"8533853265046235970","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: push the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: immediate next step? \u003cPRED\u003eA: push the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- push the sticky notes 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e","video":"16570446976549080564.mp4"}
+{"uid":"7758653121900773698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on a table 2- Drag the fish out of the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter Q: immediate next step? \u003cPRED\u003eA: place the lid on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 lid on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open table top bin's lid and take out fish and place on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the lid on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12720202231125036152.mp4"}
+{"uid":"2713967370914587250","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16899780094279474493.mp4"}
+{"uid":"3014416482457611515","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: stick the orange box on the inside of the right rack door.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstick the orange box on the inside of the right rack door. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- stick the orange box on the inside of the right rack door. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stick the orange box on the inside of the right rack door.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstick the orange box on the inside of the right rack door. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: stick the orange box on the inside of the right rack door.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stick the orange box on the inside of the right rack door.\n\u003c/PRED\u003e","video":"622237181004265220.mp4"}
+{"uid":"12416495822327780589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  orange into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4077660558552483980.mp4"}
+{"uid":"15031179581263783827","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the sticky notes 2- Grab the sticky note 3- Lift up the sticky note 4- Move close to the shelf 5- go closer to the left sticky notes row in the top rack.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right Q: immediate next step? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e","video":"7004915317438337470.mp4"}
+{"uid":"10628834062259032815","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the blue objects 2- Move close to the sticky note 3- Slightly move to the back 4- Grab the sticky note 5- Lift up the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the blue objects Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the blue objects Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the blue objects\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the blue objects\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: adjust the blue objects\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: adjust the blue objects\n\u003c/PRED\u003e","video":"14241868876314098408.mp4"}
+{"uid":"6653706620889781360","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: immediate next step? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cupboard 2- Place the blue object in the shelf 3- Move to the right 4- Move close to the sticky note 5- Slightly move to the back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10309487162106617003.mp4"}
+{"uid":"2212791837088389096","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes from the floor 2- go closer to the left sticky notes row in the top rack. 3- Place the sticky note in the shelf 4- Adjust the sticky note in the shelf 5- Move your arm close to the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sticky notes from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sticky notes from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1625413179044129226.mp4"}
+{"uid":"11623804987310413631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stick the orange object to the cupboard door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstick the orange object to the cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- stick the orange object to the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- stick the orange object to the cupboard door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9658653409350263445.mp4"}
+{"uid":"945604930542306116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the orange box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the orange box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10780897560140784073.mp4"}
+{"uid":"13088261934132940523","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cabinet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: immediate next step? \u003cPRED\u003eA: Move towards the cabinet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cabinet 2- Slightly move to the back 3- Grab the sticky note 4- Lift up the sticky note 5- Move close to the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move towards the cabinet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cabinet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cabinet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the cabinet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1590759569539303952.mp4"}
+{"uid":"13853870717633246453","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the orange object\n\u003c/PRED\u003e","video":"13155076954556079414.mp4"}
+{"uid":"2488440806327752695","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: move your arm towards the orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm towards the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the orange object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the orange object 2- Pick up the orange object 3- Move close to the shelf 4- Attached the orange on the cupboard door 5- Move backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the orange object\n\u003c/PRED\u003e","video":"4100018846118496605.mp4"}
+{"uid":"9184648546198935146","text":"\u003ctask:success:discrete:True\u003e\nPlace lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place lid on the table\n\u003c/PRED\u003e","video":"3024754233288051728.mp4"}
+{"uid":"2037530927155663228","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue box in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue box in the shelf\n\u003c/PRED\u003e","video":"9359800610757224707.mp4"}
+{"uid":"7427132263683385590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16816881856260072875.mp4"}
+{"uid":"5299649418851486965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"573173651511447718.mp4"}
+{"uid":"9840984194600931814","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm towards the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13416844607356593669.mp4"}
+{"uid":"14651595778592718428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4887194145932600748.mp4"}
+{"uid":"11907765900584329753","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move down to the sticky notes on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove down to the sticky notes on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move down to the sticky notes on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: immediate next step? \u003cPRED\u003eA: Move down to the sticky notes on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move down to the sticky notes on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove down to the sticky notes on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- Move down to the sticky notes on the floor 2- Lift up the sticky note 3- Move close to the shelf 4- go closer to the left sticky notes row in the top rack. 5- Place the sticky note in the shelf\n\u003c/PRED\u003e","video":"11690909462812954725.mp4"}
+{"uid":"13230344964261233853","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the sticky notes 2- Lift up the sticky note 3- Move close to the shelf 4- go closer to the left sticky notes row in the top rack. 5- Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note Q: immediate next step? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the sticky notes\n\u003c/PRED\u003e","video":"18074587358142297189.mp4"}
+{"uid":"6545310674658018894","text":"\u003ctask:success:discrete:True\u003e\ngrab the blue 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: grab the blue box.\n\u003c/PRED\u003e","video":"4474615441075187727.mp4"}
+{"uid":"10932041407213120577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the rack.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9989892014072364173.mp4"}
+{"uid":"9461072194845531393","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close to the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close to the orange object\n\u003c/PRED\u003e","video":"17451003460520833697.mp4"}
+{"uid":"302246162601479822","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the orange object\n\u003c/PRED\u003e","video":"2474853282200419275.mp4"}
+{"uid":"17120165369032237723","text":"\u003ctask:success:discrete:True\u003e\nPlace the sticky notes on other sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky notes on other sticky notes\n\u003c/PRED\u003e","video":"1111412894026803550.mp4"}
+{"uid":"8451580032514529094","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the shelf 2- Move backward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object Q: immediate next step? \u003cPRED\u003eA: Move close to the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"255094692941398349.mp4"}
+{"uid":"9558318261753726461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput all the spoons on the table from 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":"4430500156292813169.mp4"}
+{"uid":"13066445844675286626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17534606730313941643.mp4"}
+{"uid":"11735372291486934841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwipe the table with the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17537819464958898047.mp4"}
+{"uid":"2214450203715718312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door Q: immediate next step? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Attached the orange on the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move your arm back 2- done\n\u003c/PRED\u003e","video":"2006230175547355137.mp4"}
+{"uid":"14833514749242151721","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky note in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sticky note in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1346786225096583839.mp4"}
+{"uid":"10998702434465294670","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close the blue box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm close the blue box\n\u003c/PRED\u003e","video":"13828431968163510847.mp4"}
+{"uid":"1111451286590352215","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stick the orange box to the door of the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Stick the orange box to the door of the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStick the orange box to the door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf 18- Stick the orange box to the door of the cupboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9382373355288429582.mp4"}
+{"uid":"1180617760525937545","text":"\u003ctask:success:discrete:False\u003e\npick up the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky notes 2- Move close to the shelf 3- go closer to the left sticky notes row in the top rack. 4- Place the sticky note in the shelf 5- Adjust the sticky note in the shelf\n\u003c/PRED\u003e","video":"10286348015509327369.mp4"}
+{"uid":"1173443132976120245","text":"\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- Pick up the orange object 3- Move close to the shelf 4- Attached the orange on the cupboard door 5- Move backward\n\u003c/PRED\u003e","video":"4199007302115117676.mp4"}
+{"uid":"9943683669030686176","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":"10709793326647710189.mp4"}
+{"uid":"4422537839687089282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17187843848638450675.mp4"}
+{"uid":"17846006415603008898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11197196353667317447.mp4"}
+{"uid":"16343973265098067093","text":"\u003ctask:success:discrete:True\u003e\nmove towards the top rack. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the top rack.\n\u003c/PRED\u003e","video":"6499824610113417694.mp4"}
+{"uid":"14570718776842807109","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Stick the orange object to the cupboard door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Stick the orange object to the cupboard door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStick the orange object to the cupboard door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stick the orange object to the cupboard door\n\u003c/PRED\u003e","video":"5050808708453381570.mp4"}
+{"uid":"7804456231553280657","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stick the orange box to the door of the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: immediate next step? \u003cPRED\u003eA: Stick the orange box to the door of the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Stick the orange box to the door of the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStick the orange box to the door of the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStick the orange box to the door of the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the tape, the sticky notes, and the eraser to the supply cabinet. last 20 steps: 1- Move your arm down 2- Pick up the blue object 3- Move close to the shelf 4- Slightly move forward 5- Place the blue object in the shelf 6- Move to the right 7- Move close to the sticky note 8- Slightly move to the back 9- Grab the sticky note 10- Lift up the sticky note 11- Move close to the shelf 12- go closer to the left sticky notes row in the top rack. 13- Place the sticky note in the shelf 14- Adjust the sticky note in the shelf 15- Move your arm close to the orange object 16- Pick up the orange object 17- Move close to the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- Stick the orange box to the door of the cupboard 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stick the orange box to the door of the cupboard\n\u003c/PRED\u003e","video":"300927852879435906.mp4"}
+{"uid":"3692713631910327408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1624684982986874218.mp4"}
+{"uid":"5002764698197884303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7611905542055260613.mp4"}
+{"uid":"1449340346791713816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the black cable from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5587002558831698116.mp4"}
+{"uid":"12147524914157619245","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13976736994413318360.mp4"}
+{"uid":"1204969680945187179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the envelope Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14233872060747990409.mp4"}
+{"uid":"16784616517788833832","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle 5- enter the room 6- place the blue bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle 5- enter the room 6- place the blue bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2526989215874764818.mp4"}
+{"uid":"4975067791963894083","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- Put the orange packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e","video":"8907357405370983199.mp4"}
+{"uid":"16820498213448173241","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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":"6382082468151440734.mp4"}
+{"uid":"16730629351159708378","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e","video":"1299839198939996014.mp4"}
+{"uid":"6108706580731697899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11775856596400199653.mp4"}
+{"uid":"17476701739708833142","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"11902685374207495350.mp4"}
+{"uid":"12984744273844277403","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"10800186497445275888.mp4"}
+{"uid":"14261166887147895881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15936546385085699131.mp4"}
+{"uid":"2849925414320606963","text":"\u003ctask:success:discrete:False\u003e\nopen the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: open the refrigerator\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle 5- enter the room\n\u003c/PRED\u003e","video":"13991500027769071818.mp4"}
+{"uid":"17446203653967112958","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none 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 chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"5300832290475376287.mp4"}
+{"uid":"5411528219473205114","text":"\u003ctask:success:discrete:False\u003e\nplace the blue bottle on the moving table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue bottle on the moving table 2- close the refrigerator 3- pick up the blue bottle 4- enter the room 5- place the blue bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: place the blue bottle on the moving table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue bottle on the moving table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator Q: immediate next step? \u003cPRED\u003eA: place the blue bottle on the moving table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue bottle on the moving table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue bottle on the moving table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6029853448045279630.mp4"}
+{"uid":"1212395591724967327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput forks 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":"14672308028311123955.mp4"}
+{"uid":"14731314021267125502","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- Put the orange packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3396700468323778593.mp4"}
+{"uid":"18324149110782087311","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12963112374362210208.mp4"}
+{"uid":"7591922962478649660","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- Put the orange packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3416586212474477250.mp4"}
+{"uid":"14308418534838485721","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- Put the orange packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17945200193841878895.mp4"}
+{"uid":"6570244725595428875","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a red pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8868102714348096961.mp4"}
+{"uid":"12678510240788317393","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table Q: immediate next step? \u003cPRED\u003eA: close the refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the refrigerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: close the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table Q: next 5 steps? \u003cPRED\u003eA: 1- close the refrigerator 2- pick up the blue bottle 3- enter the room 4- place the blue bottle on the table 5- done\n\u003c/PRED\u003e","video":"16702919942856170338.mp4"}
+{"uid":"7449529903649645227","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"6373731213178168017.mp4"}
+{"uid":"11114742636558451720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2829726134022932446.mp4"}
+{"uid":"3521318997128110569","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets on the table 2- put packet on the table 3- Put the orange packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packets on the table\n\u003c/PRED\u003e","video":"485988747085532709.mp4"}
+{"uid":"1436291794960834357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13348392920881164968.mp4"}
+{"uid":"17288369054595423768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes 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":"13617290307766527296.mp4"}
+{"uid":"5695820037127939649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"3567640455299156850.mp4"}
+{"uid":"4254027871454175701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4091125072227253649.mp4"}
+{"uid":"17639820714353282557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17336334141011938273.mp4"}
+{"uid":"11030422828358448075","text":"\u003ctask:success:discrete:False\u003e\nput packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in the tray 2- put packet on the table 3- Put the orange packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packets in the tray\n\u003c/PRED\u003e","video":"15436047301837101309.mp4"}
+{"uid":"1118188188281169050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfix the lid to 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":"4368093733188218518.mp4"}
+{"uid":"7120625219855658676","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- put packet on the table 3- put packet on the table 4- Put the orange packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"18420693343459316588.mp4"}
+{"uid":"4068350998915000061","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7535261357837376624.mp4"}
+{"uid":"6203258739508318770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"395584230064131631.mp4"}
+{"uid":"11804602800104041296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12300469459897024755.mp4"}
+{"uid":"3705649542897380472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8115771831421727584.mp4"}
+{"uid":"1200765900782066145","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"2913824986168084838.mp4"}
+{"uid":"9853761999591731447","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue bottle on the moving table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue bottle on the moving 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":"3679652870291103048.mp4"}
+{"uid":"13454641653712589400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11688740505086294460.mp4"}
+{"uid":"17151160997774679494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nflip 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":"6382737344317509736.mp4"}
+{"uid":"6545537959243240082","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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":"4754066320322993790.mp4"}
+{"uid":"6120264617204079678","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet on the table 3- put packet on the table 4- Put the orange packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"9159057946152752295.mp4"}
+{"uid":"8322590669314960603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4987570921305620458.mp4"}
+{"uid":"12761629226071698951","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- put packet on the table 3- put 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"4253888059261759459.mp4"}
+{"uid":"10287480634116286223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9877932819748331759.mp4"}
+{"uid":"12745678824765487410","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle 5- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: place the blue bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle 5- enter the room Q: immediate next step? \u003cPRED\u003eA: place the blue bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue bottle on the table\n\u003c/PRED\u003e","video":"10213451365973834.mp4"}
+{"uid":"128200623824564386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npet the blue box in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6643728684397553885.mp4"}
+{"uid":"2795140847414059667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12622423547551941564.mp4"}
+{"uid":"6498643648185820529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7212711964776078277.mp4"}
+{"uid":"2334486632863771324","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"2404451807027093989.mp4"}
+{"uid":"7932839283860077300","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator Q: immediate next step? \u003cPRED\u003eA: pick up the blue bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue bottle 2- enter the room 3- place the blue bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: pick up the blue bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3725737994454558970.mp4"}
+{"uid":"13451508152183360804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the bag on the door nob Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"632423092413319091.mp4"}
+{"uid":"7817152808252096572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16885119663823457616.mp4"}
+{"uid":"7686160771875013101","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets 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":"9195471312903016749.mp4"}
+{"uid":"6258374494767881962","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- Put the orange packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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:discriminative:discrete:True\u003e\nPut the 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 the orange packet on the table\n\u003c/PRED\u003e","video":"14852005280411603658.mp4"}
+{"uid":"9099369248527072972","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\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 chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"16752337658406792637.mp4"}
+{"uid":"520720008792233549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the counter from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11677882371158688731.mp4"}
+{"uid":"15019831622025487819","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- place the blue bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please get a jasmine green tea from the fridge and bring it to me in the Denali conference room. last 20 steps: 1- open the refrigerator 2- place the blue bottle on the moving table 3- close the refrigerator 4- pick up the blue bottle Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"15776619025870016961.mp4"}
+{"uid":"3339519600167772978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6418028594643874764.mp4"}
+{"uid":"8005103762993319197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two pens on table from 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":"4850667864402029979.mp4"}
+{"uid":"13360177449844338193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut few cup in cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11927274724435944145.mp4"}
+{"uid":"17026177098595411179","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- Put the orange packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3126112701754475075.mp4"}
+{"uid":"647160616285201855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown kettle 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":"8602746296719266434.mp4"}
+{"uid":"15045232724564714169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16927358871539548540.mp4"}
+{"uid":"8503131727832593702","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"8090599445117929399.mp4"}
+{"uid":"1579232824388774296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5245142567653443404.mp4"}
+{"uid":"14327389110069475563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12829664332032878133.mp4"}
+{"uid":"9950832297780221282","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11424533040629821605.mp4"}
+{"uid":"198874608257544813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"553816622414478063.mp4"}
+{"uid":"11823581258541238067","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the black pen in the pen stand 3- done\n\u003c/PRED\u003e","video":"16866022554482671794.mp4"}
+{"uid":"73051173456006573","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the blue pen in the pen stand 3- put the black pen in the pen stand 4- put the blue pen in the pen stand 5- put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"1216223695378393388.mp4"}
+{"uid":"12325991730241278399","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10421200451895506500.mp4"}
+{"uid":"15399207842666367780","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand 6- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand 6- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4533290955213772289.mp4"}
+{"uid":"18256500122448933806","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15230842476707819849.mp4"}
+{"uid":"16965576484307366959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1642929514282356482.mp4"}
+{"uid":"1954371938746452122","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13212109901437552077.mp4"}
+{"uid":"5567863545571336441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17821933409724044647.mp4"}
+{"uid":"9372504442528959243","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand 6- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand 6- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e","video":"1137365664062114864.mp4"}
+{"uid":"178472392219850954","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the black pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"16290183727010272150.mp4"}
+{"uid":"13250617347981958509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10981746475789618197.mp4"}
+{"uid":"13578518782033439250","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4373033762053122430.mp4"}
+{"uid":"5955084372679611749","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put the blue pen in the pen stand 3- put the black pen in the pen stand 4- put the blue pen in the pen stand 5- put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11946825414363588857.mp4"}
+{"uid":"2059138209571608701","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2005314739321041751.mp4"}
+{"uid":"17144858596517752961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6940314670355678201.mp4"}
+{"uid":"12780095639203531606","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the black pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"7951778883288231355.mp4"}
+{"uid":"12307454334093460673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15799758371511836255.mp4"}
+{"uid":"14855876897629333289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"960023186963147339.mp4"}
+{"uid":"10481847472177464970","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":"5280238851292703655.mp4"}
+{"uid":"3629985550151533598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the black pen in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"14358153540972267755.mp4"}
+{"uid":"2465760462292137395","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"5304979861112607377.mp4"}
+{"uid":"6992813633225341206","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the black pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"734231854069903210.mp4"}
+{"uid":"5981045950689120251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12528767308181651982.mp4"}
+{"uid":"10957457517857028935","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"11694371380792318608.mp4"}
+{"uid":"5666343993498331510","text":"\u003ctask:success:discrete:False\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e","video":"2577005544268755129.mp4"}
+{"uid":"16395930828931468977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the tray 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":"12055480095278651646.mp4"}
+{"uid":"2340274150433843914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown pouch in the bottom right partition of the kit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18298148333043650874.mp4"}
+{"uid":"16079801571496400568","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":"15648299972489373519.mp4"}
+{"uid":"2774690036517172504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7564956736215896223.mp4"}
+{"uid":"15929643459788981390","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the pen stand 2- put the blue pen in the pen stand 3- put the black pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black pen in the pen stand\n\u003c/PRED\u003e","video":"1426470429773422222.mp4"}
+{"uid":"13906356996317897718","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the black pen in the pen stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"12533023870065336070.mp4"}
+{"uid":"3589329902864044703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1190634453961225730.mp4"}
+{"uid":"15754299883281518996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista 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":"9071841231714295933.mp4"}
+{"uid":"2808808100646527651","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"18247059686811562399.mp4"}
+{"uid":"15238304995012828124","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the blue pen in the pen stand 3- put the black pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8307114260748446990.mp4"}
+{"uid":"6652719235975459145","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the blue pen in the pen stand 3- put the black pen in the pen stand 4- put the blue pen in the pen stand 5- put the black pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"3751642345725859580.mp4"}
+{"uid":"16898240248841268209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6536721524773019077.mp4"}
+{"uid":"9696477889781910544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the white balls in the paper bowl with the help of a scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14436953088970817350.mp4"}
+{"uid":"13144983137905049585","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand 4- put the black pen in the pen stand 5- put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"13031502383032796751.mp4"}
+{"uid":"11081729722006485321","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15989329084617932592.mp4"}
+{"uid":"12276490537891424411","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5760000248705482952.mp4"}
+{"uid":"5741136924246289879","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the pens in the pen holder. last 20 steps: 1- put the black pen in the pen stand 2- put the pen in the pen stand 3- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the blue pen in the pen stand 3- put the black pen in the pen stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13468046350852879323.mp4"}
+{"uid":"3895183236235935211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green 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":"1714391392918099174.mp4"}
+{"uid":"1097678222647726871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15319012332999691655.mp4"}
+{"uid":"7693171864484543649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1052542347824569442.mp4"}
+{"uid":"10276987643940289615","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue microfiber cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue microfiber cloth in the basket 2- Drop the blue microfiber cloth in the basket 3- done\n\u003c/PRED\u003e","video":"11555335538137112502.mp4"}
+{"uid":"18409017570904393684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3486084334737648586.mp4"}
+{"uid":"7638624685419943157","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the microfiber cloth into the basket 2- Drop the blue microfiber cloth in the basket 3- Put the brown cloth in the basket 4- Drop the blue microfiber cloth in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the microfiber cloth into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the microfiber cloth into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e","video":"11689095557502273773.mp4"}
+{"uid":"8859318825770094372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate on the table from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17986463215965162459.mp4"}
+{"uid":"18362162966257644105","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cream microfiber cloth in the basket 2- Drop the cream microfiber cloth in the basket 3- Drop the blue microfiber cloth in the basket 4- Put the brown cloth in the basket 5- Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket Q: immediate next step? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cream microfiber cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cream microfiber cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1477469250831486370.mp4"}
+{"uid":"211178181083319761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the microfiber cloth into the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the microfiber cloth into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"367985182711424364.mp4"}
+{"uid":"7149471040616316654","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge into the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sponge into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sponge into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15367177206335447677.mp4"}
+{"uid":"2955224924367612633","text":"\u003ctask:success:discrete:True\u003e\nPut the blue cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket 8- Put the blue cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket 8- Put the blue cloth in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15436782264506753809.mp4"}
+{"uid":"5038400993232438558","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the microfiber  cloth into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the microfiber  cloth into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber  cloth into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber  cloth into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the microfiber  cloth into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the microfiber  cloth into the basket 2- Drop the cream microfiber cloth in the basket 3- Drop the blue microfiber cloth in the basket 4- Put the brown cloth in the basket 5- Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the microfiber  cloth into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3782488380775699240.mp4"}
+{"uid":"15898188873346095610","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket Q: immediate next step? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the sponge into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge into the basket 2- Put the scrubber in the basket 3- place the microfiber  cloth into the basket 4- Drop the cream microfiber cloth in the basket 5- Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sponge into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13451451690377118502.mp4"}
+{"uid":"13095698130503712247","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket Q: immediate next step? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue microfiber cloth in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue microfiber cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e","video":"5677907284330636172.mp4"}
+{"uid":"13580562659443996730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8520704717992265417.mp4"}
+{"uid":"13293887504532949888","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scrubber in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scrubber in the basket 2- place the microfiber  cloth into the basket 3- Drop the cream microfiber cloth in the basket 4- Drop the blue microfiber cloth in the basket 5- Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket Q: immediate next step? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e","video":"5591678476203747001.mp4"}
+{"uid":"8517883002416264418","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket 8- Drop the blue microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the blue microfiber cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket 8- Drop the blue microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7808701396318257448.mp4"}
+{"uid":"2624432781473559655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11070559885167167285.mp4"}
+{"uid":"11475685454598137731","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket Q: immediate next step? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sponge in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sponge in the basket 2- place the microfiber  cloth into the basket 3- Drop the cream microfiber cloth in the basket 4- Drop the blue microfiber cloth in the basket 5- Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e","video":"16871619302995851035.mp4"}
+{"uid":"5959382823638865868","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":"10729362674194858490.mp4"}
+{"uid":"13229924926052891887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6642359330355248085.mp4"}
+{"uid":"7849937828035812233","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":"7045013120010095184.mp4"}
+{"uid":"373225190302292242","text":"\u003ctask:success:discrete:True\u003e\nDrop the sponge in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e","video":"16047498607581313618.mp4"}
+{"uid":"1182897595698975458","text":"\u003ctask:success:discrete:True\u003e\nplace the microfiber cloth into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e","video":"8721801598229797144.mp4"}
+{"uid":"10319662379381461035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3497436991123385445.mp4"}
+{"uid":"17502993090184861524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17136206139782841424.mp4"}
+{"uid":"16444244417312635866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12121564026358714504.mp4"}
+{"uid":"1224953070301813336","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket Q: immediate next step? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white cloth in the basket 2- Drop the blue microfiber cloth in the basket 3- Put the brown cloth in the basket 4- Drop the blue microfiber cloth in the basket 5- done\n\u003c/PRED\u003e","video":"15636466743308486905.mp4"}
+{"uid":"8657233828830504150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18049588864184044019.mp4"}
+{"uid":"2611991795873256831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7487787302446418924.mp4"}
+{"uid":"6508306486581127555","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the microfiber cloth into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the microfiber cloth into the basket 2- Put the brown cloth in the basket 3- Drop the blue microfiber cloth in the basket 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e","video":"15617702524296109006.mp4"}
+{"uid":"4639174396339248419","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket Q: immediate next step? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sponge in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sponge in the basket 2- Put the scrubber in the basket 3- place the microfiber  cloth into the basket 4- Drop the cream microfiber cloth in the basket 5- Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sponge in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13561332812231802682.mp4"}
+{"uid":"8863618791527483712","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white cloth in the basket 2- Drop the cream microfiber cloth in the basket 3- Drop the blue microfiber cloth in the basket 4- Put the brown cloth in the basket 5- Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket Q: immediate next step? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e","video":"16167066246057322678.mp4"}
+{"uid":"7013523302658981735","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue cloth in the basket 2- Put the brown cloth in the basket 3- Drop the blue microfiber cloth in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e","video":"6771762570546011430.mp4"}
+{"uid":"12115740741908778671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the bottom left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16970812947789146434.mp4"}
+{"uid":"11565675495205311622","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2505465365098290925.mp4"}
+{"uid":"5259291570489694473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7416702979483372381.mp4"}
+{"uid":"17749289922485054858","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown cloth in the basket 2- Drop the blue microfiber cloth in the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown cloth in the basket\n\u003c/PRED\u003e","video":"12198468420566063030.mp4"}
+{"uid":"8406384866250403321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"976637131829669633.mp4"}
+{"uid":"2903636646583022868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13702744535904294729.mp4"}
+{"uid":"4646145481523783983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9820365882100513217.mp4"}
+{"uid":"451815302218739026","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":"5673178506448651752.mp4"}
+{"uid":"10150421011639724014","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the microfiber cloth into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the microfiber cloth into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the microfiber cloth into the basket 2- Drop the blue microfiber cloth in the basket 3- done\n\u003c/PRED\u003e","video":"15427891835012168023.mp4"}
+{"uid":"16548724483858125206","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18283602218003033018.mp4"}
+{"uid":"3782668109356677480","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scrubber in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket Q: immediate next step? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scrubber in the basket 2- Put the scrubber in the basket 3- place the microfiber  cloth into the basket 4- Drop the cream microfiber cloth in the basket 5- Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e","video":"13983896860352415388.mp4"}
+{"uid":"3731943441570714324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15922621551880605057.mp4"}
+{"uid":"6917751578738501173","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue cloth in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket Q: immediate next step? \u003cPRED\u003eA: Put the blue cloth in the basket\n\u003c/PRED\u003e","video":"8687193625195580396.mp4"}
+{"uid":"8653722285707172245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11277271284656384551.mp4"}
+{"uid":"3439311071141801404","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket 8- place the microfiber cloth into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket 6- Drop the blue microfiber cloth in the basket 7- Put the brown cloth in the basket 8- place the microfiber cloth into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the microfiber cloth into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the microfiber cloth into the basket\n\u003c/PRED\u003e","video":"5699570377673250064.mp4"}
+{"uid":"14043347126079587311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10484497060297357565.mp4"}
+{"uid":"10422889930481935659","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue microfiber cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket Q: immediate next step? \u003cPRED\u003eA: Drop the blue microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue microfiber cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue microfiber cloth in the basket 2- Put the brown cloth in the basket 3- Drop the blue microfiber cloth in the basket 4- done\n\u003c/PRED\u003e","video":"14523064480761742312.mp4"}
+{"uid":"3899305334618099304","text":"\u003ctask:success:discrete:True\u003e\nDrop the cream microfiber cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e","video":"2794703524848054867.mp4"}
+{"uid":"6665132274610804260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull the right most chair 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":"10222914898686725141.mp4"}
+{"uid":"9622901609652057287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9175301134426173185.mp4"}
+{"uid":"820401433181905385","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: place the sponge into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge into the bowl 2- place the microfiber  cloth into the basket 3- Drop the cream microfiber cloth in the basket 4- Drop the blue microfiber cloth in the basket 5- Put the brown cloth in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sponge into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket Q: immediate next step? \u003cPRED\u003eA: place the sponge into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sponge into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6294705532527608574.mp4"}
+{"uid":"10394232134578727860","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scrubber in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket 5- Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scrubber in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Put the scrubber in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scrubber in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7919460957547449687.mp4"}
+{"uid":"15780775932456791841","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cream microfiber cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cream microfiber cloth in the basket 2- Drop the blue microfiber cloth in the basket 3- Put the brown cloth in the basket 4- Drop the blue microfiber cloth in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put towels and sponge into basket. last 20 steps: 1- Drop the sponge in the basket 2- Drop the sponge in the basket 3- Put the scrubber in the basket 4- place the microfiber  cloth into the basket Q: immediate next step? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put towels and sponge into basket Q: immediate next step? \u003cPRED\u003eA: Drop the cream microfiber cloth in the basket\n\u003c/PRED\u003e","video":"7662067686842174527.mp4"}
+{"uid":"7811387764442728696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8780795171515207933.mp4"}
+{"uid":"5293708275893290923","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- put the blue packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- put the blue packet in the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e","video":"8831176020912402605.mp4"}
+{"uid":"17528988457110546529","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntransfer the pens to other pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: transfer the pens to other pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- transfer the pens to other pen stand 2- place the pen stand on the table 3- Place the pen holder to right 4- drop the green marker into the pen holder 5- move the pen holder to left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder Q: immediate next step? \u003cPRED\u003eA: transfer the pens to other pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: transfer the pens to other pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: transfer the pens to other pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntransfer the pens to other pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"121123545721320449.mp4"}
+{"uid":"987667870070858930","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: move the pen holder to right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the pen holder to right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the pen holder to right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the pen holder to right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the pen holder to right 2- drop the green marker into the pen holder 3- move the pen holder to left 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the pen holder to right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: move the pen holder to right\n\u003c/PRED\u003e","video":"13385689741781053030.mp4"}
+{"uid":"6577751918742009772","text":"\u003ctask:success:discrete:True\u003e\ntransfer the pens to other pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: transfer the pens to other pen stand\n\u003c/PRED\u003e","video":"15867894551360580176.mp4"}
+{"uid":"4067967587766448260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6206833287787892036.mp4"}
+{"uid":"8173157503549182479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3037604375140712022.mp4"}
+{"uid":"5849752317111028367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- drop blue packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags 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 chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- drop blue packet in basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5253297094152403711.mp4"}
+{"uid":"42602083937718004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5585625697474757734.mp4"}
+{"uid":"1248407845289207906","text":"\u003ctask:success:discrete:True\u003e\nPut the chips packet into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chips packet into basket\n\u003c/PRED\u003e","video":"1201057724882187608.mp4"}
+{"uid":"6990519212576235821","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"776898050341251925.mp4"}
+{"uid":"5128584965544061262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the green sachet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17808718582049436025.mp4"}
+{"uid":"6537288897718613824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the white serving tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"75445161502149054.mp4"}
+{"uid":"7468320738022844708","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen stand on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen stand on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: place the pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen stand on the table 2- Place the pen holder to right 3- drop the green marker into the pen holder 4- move the pen holder to left 5- done\n\u003c/PRED\u003e","video":"8593130777511605333.mp4"}
+{"uid":"16119282017785850237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17291818209572612888.mp4"}
+{"uid":"14098088626603577065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16941984507955664957.mp4"}
+{"uid":"15237097586279879768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16056173570658077401.mp4"}
+{"uid":"15152713708149894490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15223694581617733019.mp4"}
+{"uid":"8418874229610823025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the holder upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1580375131852088746.mp4"}
+{"uid":"4205637744294041896","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in basket 2- Put the packet into the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart Q: immediate next step? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e","video":"11843675805925556446.mp4"}
+{"uid":"11688370279942058741","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder 6- move the pen holder to left Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the pen holder to left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the pen holder to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder 6- move the pen holder to left Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8197277991828106654.mp4"}
+{"uid":"9083867769301121189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the basket on the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"940261135151667486.mp4"}
+{"uid":"7020030063077770503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the horse toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"109005752464150906.mp4"}
+{"uid":"3539462963511215590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16075000180261630934.mp4"}
+{"uid":"1740837741087939423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown bowl on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1614295871828644014.mp4"}
+{"uid":"12896984777799854811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17776229769899352194.mp4"}
+{"uid":"2346073330301806207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"108217912434353664.mp4"}
+{"uid":"15022325242679207904","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the pen holder to right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the pen holder to right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16022002089583295046.mp4"}
+{"uid":"16736586147067057670","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet into the  basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet into the  basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet into the  basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet into the  basket 2- Put the packet into the basket 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet into the  basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart Q: immediate next step? \u003cPRED\u003eA: Put the packet into the  basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet into the  basket\n\u003c/PRED\u003e","video":"6792182341748804716.mp4"}
+{"uid":"15053176153476715251","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the cart 2- Put the packet into the  basket 3- Put the packet into the basket 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15456965990320831277.mp4"}
+{"uid":"3757814760759297117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5798831663917520909.mp4"}
+{"uid":"8003996088778639076","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6113038011459407911.mp4"}
+{"uid":"7083245415804105480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6514376277216561706.mp4"}
+{"uid":"14016168867052579950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the filled pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the filled pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15307172506592214778.mp4"}
+{"uid":"10935284352703456070","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- drop blue packet in basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- drop blue packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8123158280758959698.mp4"}
+{"uid":"5635858174191554003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16125489405867728420.mp4"}
+{"uid":"7149058317176222229","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: immediate next step? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop blue packet in basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop blue packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the cart 2- done\n\u003c/PRED\u003e","video":"1839585052725209124.mp4"}
+{"uid":"5201901007379888287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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\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":"18413777043919266984.mp4"}
+{"uid":"13439028384059838042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2259676885690567626.mp4"}
+{"uid":"17338926355432983193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5484262682343544493.mp4"}
+{"uid":"6131678551396875340","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the pen holder 2- move the pen holder to left 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13063558189150200963.mp4"}
+{"uid":"1759022237584001094","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen holder to left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: Place the pen holder to left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen holder to left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen holder to left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen holder to left 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen holder to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen holder to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17879283698969901225.mp4"}
+{"uid":"14276186922105023474","text":"\u003ctask:success:discrete:True\u003e\nPut the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- Put the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket 4- Put the packet into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1632191544601900703.mp4"}
+{"uid":"17488882953313661053","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen holder to right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen holder to right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: Place the pen holder to right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen holder to right 2- drop the green marker into the pen holder 3- move the pen holder to left 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table Q: immediate next step? \u003cPRED\u003eA: Place the pen holder to right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen holder to right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen holder to right\n\u003c/PRED\u003e","video":"17972755179472479008.mp4"}
+{"uid":"10689161917032471747","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop blue packet in basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop blue packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: immediate next step? \u003cPRED\u003eA: drop blue packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop blue packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12272780446898697997.mp4"}
+{"uid":"4917132491123428148","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen holder to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen holder to left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder 6- Place the pen holder to left Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder 6- Place the pen holder to left Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17873468605768926932.mp4"}
+{"uid":"13299521552826549073","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e","video":"5615802708882878758.mp4"}
+{"uid":"1258871988646441420","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the cart 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16106642052056539320.mp4"}
+{"uid":"16533929866942453177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red 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":"2206517495928485453.mp4"}
+{"uid":"10858379307998917479","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen holder\n\u003c/PRED\u003e","video":"11187141480784735023.mp4"}
+{"uid":"15532567956265294250","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the filled pen stand 2- move the pen holder to left 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the filled pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the filled pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the filled pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: put the pen in the filled pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right Q: immediate next step? \u003cPRED\u003eA: put the pen in the filled pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the filled pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13687665774004376985.mp4"}
+{"uid":"11357558344832779353","text":"\u003ctask:success:discrete:True\u003e\nPut the packet into the  basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet into the  basket\n\u003c/PRED\u003e","video":"4379330769121121288.mp4"}
+{"uid":"4754337439764667489","text":"\u003ctask:success:discrete:True\u003e\nPlace the pen holder to right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen holder to right\n\u003c/PRED\u003e","video":"1400772759079395541.mp4"}
+{"uid":"1985419331778157170","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop white packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: drop white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart Q: immediate next step? \u003cPRED\u003eA: drop white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- drop white packet in basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop white packet in basket\n\u003c/PRED\u003e","video":"17137219822649668574.mp4"}
+{"uid":"12605649763869169231","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker into the pen holder 2- move the pen holder to left 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14118981419176059207.mp4"}
+{"uid":"4058211639398088550","text":"\u003ctask:success:discrete:False\u003e\nmove the pen holder to left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. Q: immediate next step? \u003cPRED\u003eA: move the pen holder to left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the pen holder to left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the pen holder to left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: move the pen holder to left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the highlighters into the desk organizer. last 20 steps: 1- Pick up the pen holder 2- transfer the pens to other pen stand 3- place the pen stand on the table 4- Place the pen holder to right 5- drop the green marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- move the pen holder to left 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the pen holder to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6526592814394031504.mp4"}
+{"uid":"15818000313409397139","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: immediate next step? \u003cPRED\u003eA: Put the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart 3- Put the packet into the  basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet into the basket 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1066314448182609685.mp4"}
+{"uid":"4730173769071203272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2877504359899582451.mp4"}
+{"uid":"18323388290647246543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"71094987905057938.mp4"}
+{"uid":"5401964971822992157","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart Q: immediate next step? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chip bags in the basket Q: immediate next step? \u003cPRED\u003eA: drop packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chip bags in the basket. last 20 steps: 1- put the blue packet in the cart 2- put the orange packet in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in basket 2- Put the packet into the basket 3- done\n\u003c/PRED\u003e","video":"14100294772957590164.mp4"}
+{"uid":"10707473946864801800","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase Q: immediate next step? \u003cPRED\u003eA: put the third blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the third blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the third blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the third blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the third blue pen into the left pencase Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 third blue pen into the left pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase Q: next 5 steps? \u003cPRED\u003eA: 1- put the third blue pen into the left pencase 2- put the second black pen into the right pen case 3- done\n\u003c/PRED\u003e","video":"10316927230885690505.mp4"}
+{"uid":"13226705692711100819","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tongs\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tongs 2- Put the orange chip in the bowl 3- Put the orange chip in the bowl 4- Put the tongs in the holder 5- Close the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tongs Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tongs Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tongs\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the tongs\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Pick up the tongs\n\u003c/PRED\u003e","video":"7202090833712039878.mp4"}
+{"uid":"16930718023316801827","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen into the holder 2- put the second black pen into the right pen case 3- done\n\u003c/PRED\u003e","video":"5517780409743746926.mp4"}
+{"uid":"1422875492998767185","text":"\u003ctask:success:discrete:True\u003e\nput the  left bottom pen in the  left pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  left bottom pen in the  left pen holder\n\u003c/PRED\u003e","video":"15817609399227406457.mp4"}
+{"uid":"4691140104386735537","text":"\u003ctask:success:discrete:True\u003e\nPut the bowl up right 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 bowl up right on the table\n\u003c/PRED\u003e","video":"14148654843872629347.mp4"}
+{"uid":"10692983795283408482","text":"\u003ctask:success:discrete:True\u003e\nput the third blue pen into the left pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 third blue pen into the left pencase\n\u003c/PRED\u003e","video":"14249605481638676792.mp4"}
+{"uid":"2445521616881474728","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl 7- Put the tongs in the holder 8- Close the jar 9- Put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl 7- Put the tongs in the holder 8- Close the jar 9- Put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11191603565008473836.mp4"}
+{"uid":"1816602427866862630","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the right blue pen into the left pencase Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: keep the right blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the right blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- keep the right blue pen into the left pencase 2- put second blue pen into the right pencase 3- put the 3rd blue pen into the left pen holder 4- put the second black pen into the right pen case 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the right blue pen into the left pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the right blue pen into the left pencase\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder Q: immediate next step? \u003cPRED\u003eA: keep the right blue pen into the left pencase\n\u003c/PRED\u003e","video":"16313487690842300215.mp4"}
+{"uid":"7276233600981368046","text":"\u003ctask:success:discrete:True\u003e\nput the 2nd pen into the left pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 2nd pen into the left pen holder\n\u003c/PRED\u003e","video":"4024859295470399163.mp4"}
+{"uid":"13264517373276756496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6003804823372802380.mp4"}
+{"uid":"11317763760983739854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4768441757674379150.mp4"}
+{"uid":"9575996611170015778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9833215194290791610.mp4"}
+{"uid":"18095911068172784392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut plastic fork in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1416876560999515422.mp4"}
+{"uid":"11939338715581360622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9594324544103168634.mp4"}
+{"uid":"10706825999121389341","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9861607336371216923.mp4"}
+{"uid":"15316614246797657466","text":"\u003ctask:success:discrete:True\u003e\nkeep the right blue pen into the left pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the right blue pen into the left pencase\n\u003c/PRED\u003e","video":"10762001745536925668.mp4"}
+{"uid":"508177608001485816","text":"\u003ctask:success:discrete:True\u003e\nput the right black pen into the right pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 right black pen into the right pencase\n\u003c/PRED\u003e","video":"16134074812724861096.mp4"}
+{"uid":"13158158143414609820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17261616883513359371.mp4"}
+{"uid":"17531346928860467938","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Close the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl 7- Put the tongs in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Close the jar 2- Put the bowl on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl 7- Put the tongs in the holder Q: immediate next step? \u003cPRED\u003eA: Close the jar\n\u003c/PRED\u003e","video":"8902902594854196835.mp4"}
+{"uid":"9977960836071109090","text":"\u003ctask:success:discrete:True\u003e\nPut the orange chip in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e","video":"2535227665221350899.mp4"}
+{"uid":"1463532981138895289","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- Put the pen into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- Put the pen into the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14082291483047872919.mp4"}
+{"uid":"6989857864303310348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16068089964405723411.mp4"}
+{"uid":"2630372508410370584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8590619041802977789.mp4"}
+{"uid":"8341188316533479650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13148765083164755256.mp4"}
+{"uid":"12481117011644467692","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl 7- Put the tongs in the holder 8- Close the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl 7- Put the tongs in the holder 8- Close the jar Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e","video":"13872257100591094941.mp4"}
+{"uid":"3639573406589107826","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the 2nd black pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 2nd black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the 2nd black pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 2nd black pen into the pen holder\n\u003c/PRED\u003e","video":"1963771025609136646.mp4"}
+{"uid":"15272467873609589137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12842382495586552797.mp4"}
+{"uid":"13541137007983161397","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13390755389092223724.mp4"}
+{"uid":"7386993724148071516","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen into the holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the second black pen into the right pen case\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"16694026100312174309.mp4"}
+{"uid":"5857981869376173218","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange chip in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange chip in the bowl 2- Put the tongs in the holder 3- Close the jar 4- Put the bowl 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 orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e","video":"4675219260432369297.mp4"}
+{"uid":"16192956411350745184","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the  left bottom pen in the  left pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  left bottom pen in the  left pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  left bottom pen in the  left pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  left bottom pen in the  left pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  left bottom pen in the  left pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the second black pen into the right pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the  left bottom pen in the  left pen holder\n\u003c/PRED\u003e","video":"233426146049634740.mp4"}
+{"uid":"14232296551214468211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the unreal chocolate in the middle white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10358509864686335975.mp4"}
+{"uid":"357397265002232223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10185463676558134208.mp4"}
+{"uid":"12070828532686765954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Put the bowl up right on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl up right on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl up right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl up right on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl up right on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl up right on the table\n\u003c/PRED\u003e","video":"17969135536782618778.mp4"}
+{"uid":"17307331589618876969","text":"\u003ctask:success:discrete:True\u003e\nPut the pen into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"12585565626914171205.mp4"}
+{"uid":"2606237055761431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6365807501189410783.mp4"}
+{"uid":"8680440510205513740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right plate from the left top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12460135421178459533.mp4"}
+{"uid":"335938800306405969","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the right black pen into the right pencase\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the right black pen into the right pencase\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the right black pen into the right pencase Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 right black pen into the right pencase\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the right black pen into the right pencase 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the second black pen into the right pen case\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the right black pen into the right pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the right black pen into the right pencase\n\u003c/PRED\u003e","video":"6911557258067214524.mp4"}
+{"uid":"14067741249909175365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9647726806880651467.mp4"}
+{"uid":"1408892857631926625","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table Q: immediate next step? \u003cPRED\u003eA: Open the orange chips jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the orange chips jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the orange chips jar 2- Put the jar lid on the table 3- Pick up the tongs 4- Put the orange chip in the bowl 5- Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the orange chips jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the orange chips jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Open the orange chips jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the orange chips jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1365815206527589760.mp4"}
+{"uid":"8054698139067354700","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 2nd black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the 2nd black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder Q: immediate next step? \u003cPRED\u003eA: put the 2nd black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the 2nd black pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 2nd black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 2nd black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 2nd black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13415175737878638600.mp4"}
+{"uid":"10704425431493087410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 3rd blue pen into the left pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 3rd blue pen into the left pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase Q: next 5 steps? \u003cPRED\u003eA: 1- put the 3rd blue pen into the left pen holder 2- put the second black pen into the right pen case 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 3rd blue pen into the left pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase Q: immediate next step? \u003cPRED\u003eA: put the 3rd blue pen into the left pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the 3rd blue pen into the left pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 3rd blue pen into the left pen holder\n\u003c/PRED\u003e","video":"14553199338927994764.mp4"}
+{"uid":"2955287740456959071","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange chip in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs Q: immediate next step? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange chip in the bowl 2- Put the orange chip in the bowl 3- Put the tongs in the holder 4- Close the jar 5- Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange chip in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"537086487585532669.mp4"}
+{"uid":"10220170312176590473","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the second black pen into the right pen case Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder 5- put the second black pen into the right pen case Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the second black pen into the right pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the second black pen into the right pen case\n\u003c/PRED\u003e","video":"11218259317902482008.mp4"}
+{"uid":"9179407170146643253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy 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":"3304895618839047797.mp4"}
+{"uid":"5146829288134212861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8298605627355146267.mp4"}
+{"uid":"14208128742130251916","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tongs in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tongs in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Put the tongs in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar 3- Put the jar lid on the table 4- Pick up the tongs 5- Put the orange chip in the bowl 6- Put the orange chip in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tongs in the holder 2- Close the jar 3- Put the bowl on the table 4- done\n\u003c/PRED\u003e","video":"8644815186396977331.mp4"}
+{"uid":"11767526040166463162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11945521668110206197.mp4"}
+{"uid":"154332885807138194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16929392306621931804.mp4"}
+{"uid":"402088492350747901","text":"\u003ctask:success:discrete:True\u003e\nput the 3rd blue pen into the left pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 3rd blue pen into the left pen holder\n\u003c/PRED\u003e","video":"11422092290988962225.mp4"}
+{"uid":"6783859471367905074","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put second blue pen into the right pencase\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 2nd pen into the left pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put second blue pen into the right pencase\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase Q: immediate next step? \u003cPRED\u003eA: put the 2nd pen into the left pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase Q: next 5 steps? \u003cPRED\u003eA: 1- put second blue pen into the right pencase 2- put the 3rd blue pen into the left pen holder 3- put the second black pen into the right pen case 4- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase Q: next 5 steps? \u003cPRED\u003eA: 1- put the 2nd pen into the left pen holder 2- put the 3rd blue pen into the left pen holder 3- put the second black pen into the right pen case 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the 2nd pen into the left pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put second blue pen into the right pencase\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase Q: immediate next step? \u003cPRED\u003eA: put second blue pen into the right pencase\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput second blue pen into the right pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 second blue pen into the right pencase Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 2nd pen into the left pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 2nd pen into the left pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 2nd pen into the left pen holder\n\u003c/PRED\u003e","video":"7118134033244799246.mp4"}
+{"uid":"9037962921781904757","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the second black pen into the right pen case 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the second black pen into the right pen case\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the second black pen into the right pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the second black pen into the right pen case Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: put the second black pen into the right pen case\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the second black pen into the right pen case\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder Q: immediate next step? \u003cPRED\u003eA: put the second black pen into the right pen case\n\u003c/PRED\u003e","video":"5499943670715493610.mp4"}
+{"uid":"3627412220143850027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5716827626205961324.mp4"}
+{"uid":"4208839000240390378","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the jar lid on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar Q: immediate next step? \u003cPRED\u003eA: Put the jar lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the jar lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple Q: immediate next step? \u003cPRED\u003eA: Put the jar lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the jar lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the jar lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry, please go get me some dried pineapple . last 20 steps: 1- Put the bowl up right on the table 2- Open the orange chips jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the jar lid on the table 2- Pick up the tongs 3- Put the orange chip in the bowl 4- Put the orange chip in the bowl 5- Put the tongs in the holder\n\u003c/PRED\u003e","video":"2990015209754473932.mp4"}
+{"uid":"8301404218737002257","text":"\u003ctask:success:discrete:True\u003e\nPut the orange chip in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange chip in the bowl\n\u003c/PRED\u003e","video":"11418459766260061057.mp4"}
+{"uid":"15278831429448488606","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder 2- keep the right blue pen into the left pencase 3- put second blue pen into the right pencase 4- put the 3rd blue pen into the left pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen into the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"9796854645088288642.mp4"}
+{"uid":"429631990308418938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"668907399756343535.mp4"}
+{"uid":"6418351675213364869","text":"\u003ctask:success:discrete:True\u003e\nput second blue pen into the right pencase Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 second blue pen into the right pencase\n\u003c/PRED\u003e","video":"9136492928147507939.mp4"}
+{"uid":"905202647862916006","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen into the holder 2- put second blue pen into the right pencase 3- put the 3rd blue pen into the left pen holder 4- put the second black pen into the right pen case 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up writing utensils and container and organize them. last 20 steps: 1- put the  left bottom pen in the  left pen holder Q: immediate next step? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen into the holder\n\u003c/PRED\u003e","video":"9415695247992461674.mp4"}